Use getArmPos() and setPoint.velocity and instead of goalState

DeepBlueRobotics / RobotCode2024

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Use getArmPos() and setPoint.velocity and instead of goalState #18

Open brettle opened 7 months ago

brettle commented 7 months ago

https://github.com/DeepBlueRobotics/RobotCode2024/blob/864bd307aef11cefdb3b42233551b75dce458c0b/src/main/java/org/carlmontrobotics/subsystems/Arm.java#L163

The kG portion of the feedforward should be based on the arm's current position (ie getArmPos()) and the kV portion should be based on the profiled velocity (ie setPoint.velocity). Neither should be based on goalState.

BrandonS09 commented 7 months ago

Fixed in 0dd661b57477b32a122efb3ee62512888f007e11