From 9d00521268825fafce33f410d186146d132815a6 Mon Sep 17 00:00:00 2001
From: Brandon <brandonshen123@gmail.com>
Date: Mon, 4 Mar 2024 18:52:52 -0800
Subject: [PATCH] edge cases to driveArm()

---
 src/main/java/org/carlmontrobotics/subsystems/Arm.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index 39d871af..66251b34 100644
--- 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);
+        }
 
     }