Update Arm.java

ShmayaR · ShmayaR · commit bd19f72727a7 · 2025-09-19T02:08:00.000+03:00
diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java
@@ -132,7 +132,7 @@ void setTargetState(ArmConstants.ArmState targetState, boolean isStateReversed)
 
     void setTargetState(Rotation2d targetAngle, double targetVoltage) {
         setTargetAngle(targetAngle);
-        setTargetVoltage(targetVoltage);
+        setEndEffectorTargetVoltage(targetVoltage);
     }
 
     void setArmState(ArmConstants.ArmState targetState) {
@@ -151,7 +151,7 @@ void setArmState(ArmConstants.ArmState targetState, boolean isStateReversed) {
     }
 
     void setEndEffectorState(ArmConstants.ArmState targetState) {
-        setTargetVoltage(targetState.targetEndEffectorVoltage);
+        setEndEffectorTargetVoltage(targetState.targetEndEffectorVoltage);
     }
 
     private void setTargetAngle(Rotation2d targetAngle) {
@@ -167,7 +167,7 @@ private Rotation2d minimumArmSafeAngle() {
                 : Rotation2d.fromRadians(Math.acos(cosOfMinimumSafeAngle));
     }
 
-    private void setTargetVoltage(double targetVoltage) {
+    private void setEndEffectorTargetVoltage(double targetVoltage) {
         ArmConstants.END_EFFECTOR_MECHANISM.setTargetVelocity(targetVoltage);
         endEffectorMotor.setControl(voltageRequest.withOutput(targetVoltage));
     }

Original file line number	Diff line number	Diff line change
`@@ -132,7 +132,7 @@ void setTargetState(ArmConstants.ArmState targetState, boolean isStateReversed)`
`132`	`132`
`133`	`133`	`void setTargetState(Rotation2d targetAngle, double targetVoltage) {`
`134`	`134`	`setTargetAngle(targetAngle);`
`135`		`- setTargetVoltage(targetVoltage);`
	`135`	`+ setEndEffectorTargetVoltage(targetVoltage);`
`136`	`136`	`}`
`137`	`137`
`138`	`138`	`void setArmState(ArmConstants.ArmState targetState) {`
`@@ -151,7 +151,7 @@ void setArmState(ArmConstants.ArmState targetState, boolean isStateReversed) {`
`151`	`151`	`}`
`152`	`152`
`153`	`153`	`void setEndEffectorState(ArmConstants.ArmState targetState) {`
`154`		`- setTargetVoltage(targetState.targetEndEffectorVoltage);`
	`154`	`+ setEndEffectorTargetVoltage(targetState.targetEndEffectorVoltage);`
`155`	`155`	`}`
`156`	`156`
`157`	`157`	`private void setTargetAngle(Rotation2d targetAngle) {`
`@@ -167,7 +167,7 @@ private Rotation2d minimumArmSafeAngle() {`
`167`	`167`	`: Rotation2d.fromRadians(Math.acos(cosOfMinimumSafeAngle));`
`168`	`168`	`}`
`169`	`169`
`170`		`- private void setTargetVoltage(double targetVoltage) {`
	`170`	`+ private void setEndEffectorTargetVoltage(double targetVoltage) {`
`171`	`171`	`ArmConstants.END_EFFECTOR_MECHANISM.setTargetVelocity(targetVoltage);`
`172`	`172`	`endEffectorMotor.setControl(voltageRequest.withOutput(targetVoltage));`
`173`	`173`	`}`