From 6a5b4a7045fb71c6557bb9294db703896c04981c Mon Sep 17 00:00:00 2001
From: TuskAct2 <112046931+TuskAct2@users.noreply.github.com>
Date: Sun, 1 Oct 2023 01:10:31 +0000
Subject: [PATCH] if encoders are dc then motors will stop

---
 .../robotcode2023/subsystems/Arm.java               | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java
index 497a5459..01571f57 100644
--- a/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/subsystems/Arm.java
@@ -54,7 +54,7 @@ public class Arm extends SubsystemBase {
     // rad, rad/s
     public static TrapezoidProfile.State[] goalState = { new TrapezoidProfile.State(-Math.PI / 2, 0), new TrapezoidProfile.State(0, 0) };
 
-    double lastWristPos;
+    private double lastWristPos;
     private double lastArmPos;
     private double lastMeasuredTime;
     private boolean isArmEncoderConnected = false;
@@ -127,7 +127,16 @@ public void periodic() {
         
         isWristEncoderConnected = currTime - lastMeasuredTime < DISCONNECTED_ENCODER_TIMEOUT_SEC;
         SmartDashboard.putBoolean("WristEncoderConnected", isWristEncoderConnected);
-			
+        
+        if(isArmEncoderConnected = false)
+        {
+            armMotor.stopMotor();
+        }
+        if(isWristEncoderConnected = false)
+        {
+            wristMotor.stopMotor();
+        }
+        
 				//TODO: is RobotContainer live or do you need supplier functions
         armConstraints = new TrapezoidProfile.Constraints(
           RobotContainer.isdriverchild ? MAX_FF_VEL_BABY[0] : MAX_FF_VEL_AUTO[0],