edge cases to driveArm()

DeepBlueRobotics · Mar 5, 2024 · 9d00521 · 9d00521
1 parent f678c1d
commit 9d00521
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -169,6 +169,9 @@ private void driveArm() {
         if (armAtSetpoint()){
             armPIDMaster.setIZone(Double.POSITIVE_INFINITY);//turns off pid once it reaches the setpoint
         }
+        else {
+            armPIDMaster.setIZone(IZONE);
+        }
 
     }