From 65e955defb64dba0315593ad19d8a15bd7f67315 Mon Sep 17 00:00:00 2001
From: lukesta182 <33330639+lukesta182@users.noreply.github.com>
Date: Fri, 1 Feb 2019 19:29:34 -0700
Subject: [PATCH] attempt to get manuel joystick in

didnt work, pulling mayas code to se if hers works
---
 .../src/main/java/org/usfirst/frc4388/robot/Robot.java      | 3 ++-
 .../main/java/org/usfirst/frc4388/robot/subsystems/Arm.java | 6 +++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
index ac82e4a..8ed83e7 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
@@ -103,7 +103,8 @@ public class Robot extends IterativeRobot
     	updateChoosers();
         controlLoop.start();
     	drive.resetEncoders();
-    	drive.endGyroCalibration();
+		drive.endGyroCalibration();
+		//Arm.setArmControlMode(Arm.ArmControlMode.JOYSTICK_MANUAL);
 
         updateStatus();
     }
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
index 63d219f..a8bedac 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
@@ -112,6 +112,8 @@ public class Arm extends Subsystem implements Loop
 		return this.armControlMode;
 	}
 
+
+
 		
 	public void setSpeedJoystick(double speed) {
 		motor1.set(ControlMode.PercentOutput, speed);
@@ -127,7 +129,7 @@ public class Arm extends Subsystem implements Loop
 	
 	public void updatePositionPID(double targetPositionInches) {
  		targetPositionInchesPID = limitPosition(targetPositionInches);
-		double startPositionInches = motor1.getPositionWorld();
+		double startPositionInches = motor1.getPositionWorld()*Y_POSITION_MATH;
 		mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN); 
 	}
 
@@ -165,6 +167,8 @@ public class Arm extends Subsystem implements Loop
 				case JOYSTICK_MANUAL:
 					controlManualWithJoystick();
 					break;
+				default:
+					break;
 				
 				
 			}