remove extra arm stuff

swerve100/src/main/java/org/team100/frc2023/commands/Arm/LowerArmToGoal.java

@@ -13,6 +13,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
 
+// TODO: remove use of ProfiledPIDCommand
 public class LowerArmToGoal extends ProfiledPIDCommand {
     private final ArmController arm;
 

swerve100/src/main/java/org/team100/frc2023/commands/Arm/UpperArmToGoal.java

@@ -14,6 +14,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
 
+// TODO: remove use of ProfiledPIDCommand
 public class UpperArmToGoal extends ProfiledPIDCommand {
     private final ArmController m_arm;
 

swerve100/src/main/java/org/team100/frc2023/subsystems/arm/ArmController.java

@@ -64,8 +64,8 @@ public ArmController() {
                 .withForwardSoftLimitEnabled(false)
                 .build();
 
-        lowerArmSegment = new ArmSegment(this::getLowerArm, lowerArmMotor, "Lower Motor");
-        upperArmSegment = new ArmSegment(this::getUpperArm, upperArmMotor, "Upper Motor");
+        lowerArmSegment = new ArmSegment(lowerArmMotor, "Lower Motor");
+        upperArmSegment = new ArmSegment(upperArmMotor, "Upper Motor");
 
         Translation2d initial = ArmKinematics.getArmPosition(getLowerArm(), getUpperArm());
 

swerve100/src/main/java/org/team100/frc2023/subsystems/arm/ArmSegment.java

@@ -1,67 +1,37 @@
 package org.team100.frc2023.subsystems.arm;
 
-import java.util.function.Supplier;
 
 import org.team100.lib.motors.FRCNEO;
 
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class ArmSegment extends SubsystemBase{
-   
+// TODO: remove this class
+public class ArmSegment extends SubsystemBase {
 
     private FRCNEO motor;
-    private Supplier<Double> positionSupplier;
-
 
-    /** Creates a new UpperArm. */
-    public ArmSegment(Supplier<Double> positionSupplier, FRCNEO motor, String name) {
+    public ArmSegment(FRCNEO motor, String name) {
         this.motor = motor;
-        this.positionSupplier = positionSupplier;
-
         SmartDashboard.putData(name, this);
-
-
     }
 
-    /**
-     * Sets the motor output, accounting for soft limits.
-     * <p><b>THIS SHOULD BE THE ONLY PLACE WHERE MOTOR OUTPUT IS SET.</b></p>
-     * @param x
-     */
     public void setMotor(double x) {
-        // Account for soft limits
-        // kGravityGain *= Math.sin(positionSupplier.get());
-        // if (getAngle() <= lowerSoftLimit && x < 0)
-        //     this.motor.motor.set(0);
-        // else if (getAngle() >= upperSoftLimit && x > 0)
-        //     this.motor.motor.set(0);
-        // else
-            this.motor.motor.set(x) ;
-    }
-
-    @Override
-    public void periodic() {
-
-    }
-
-
-    public double getDegrees() {
-        return positionSupplier.get() * 180/Math.PI;
+        this.motor.motor.set(x);
     }
 
     public void initSendable(SendableBuilder builder) {
         super.initSendable(builder);
-        // builder.addDoubleProperty("Error", () -> m_controller.getPositionError(), null);
+        // builder.addDoubleProperty("Error", () -> m_controller.getPositionError(),
+        // null);
         // builder.addDoubleProperty("Measurement", () -> getMeasurement(), null);
-        // builder.addDoubleProperty("Setpoint", () -> m_controller.getSetpoint().position, null);
-        // builder.addDoubleProperty("Goal", () -> m_controller.getGoal().position, null);
+        // builder.addDoubleProperty("Setpoint", () ->
+        // m_controller.getSetpoint().position, null);
+        // builder.addDoubleProperty("Goal", () -> m_controller.getGoal().position,
+        // null);
         // builder.addDoubleProperty("Output", () -> output, null);
         // builder.addDoubleProperty("Degrees", () -> getDegrees(), null);
 
-
-
-
     }
 }