From f9fd18d0649e6b6d74aeda3cb6902efe8da856d3 Mon Sep 17 00:00:00 2001
From: taj-maharj08 <arjunmahajan@billericak12.com>
Date: Tue, 20 Feb 2024 14:34:36 -0500
Subject: [PATCH] Commit before going to WPI. Put Climber and ARM together
 untested

---
 src/main/java/frc/robot/Robot.java      | 6 +-----
 src/main/java/frc/robot/Subsystems.java | 2 +-
 src/main/java/frc/robot/arm/Arm.java    | 2 +-
 3 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 2649072..690cbda 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -135,11 +135,7 @@ public Robot() {
 
     m_operatorController
         .leftTrigger()
-        .whileTrue(
-            Commands.parallel(
-                m_intake.feed(),
-                m_arm.goToSetpoint(1.232, -2.753, 0.0, 0.0),
-                m_shooter.ShooterOn()))
+        .whileTrue(Commands.parallel(m_intake.feed(), m_arm.goToSetpoint(1.232, -2.753, 0.0, 0.0)))
         .onFalse(
             Commands.sequence(m_arm.goToSetpoint(ArmSetpoints.kStowed), m_shooter.ShooterOff()));
 
diff --git a/src/main/java/frc/robot/Subsystems.java b/src/main/java/frc/robot/Subsystems.java
index 2b4a7e3..77aac4d 100644
--- a/src/main/java/frc/robot/Subsystems.java
+++ b/src/main/java/frc/robot/Subsystems.java
@@ -85,4 +85,4 @@ public static Climber createSparkMAXClimber() {
   public static Climber createBlankClimber() {
     return new Climber(new ClimberIO() {});
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java
index d3c872b..341206f 100644
--- a/src/main/java/frc/robot/arm/Arm.java
+++ b/src/main/java/frc/robot/arm/Arm.java
@@ -61,7 +61,7 @@ public class Arm extends SubsystemBase {
         elbowkS.initDefault(0.55);
         elbowCruiseVelocityRadPerSec.initDefault(5.0);
         elbowMaxAccelerationRadPerSecSq.initDefault(8.0);
-        wristkP.initDefault(0.8);
+        wristkP.initDefault(1.3);
         wristkD.initDefault(0);
         wristkS.initDefault(0.3);
         wristCruiseVelocityRadPerSec.initDefault(4.0);