Revert "Arm command --> Master"

src/main/java/frc4388/robot/commands/ExtendArmTo.java

@@ -1,36 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc4388.robot.commands;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.subsystems.Arm;
-
-public class ExtendArmTo extends CommandBase {
-    private final Arm     m_arm;
-    private final double  m_target;
-    private final boolean m_direction;
-
-    public ExtendArmTo(Arm arm, double units) {
-        m_arm       = arm;
-        m_target    = units;
-        m_direction = m_target > 1;
-        addRequirements(m_arm);
-    }
-
-    // Called every time the scheduler runs while the command is scheduled.
-    @Override
-    public void execute() {
-        m_arm.setTeleVel(m_direction ? 1 : -1, false);
-    }
-
-    // Returns true when the command should end.
-    @Override
-    public boolean isFinished() {
-        if (m_direction)
-            return m_arm.getTeleUnit() > m_target;
-        else
-            return m_arm.getTeleUnit() < m_target;
-    }
-}

src/main/java/frc4388/robot/commands/LimeAlign.java

@@ -5,25 +5,22 @@
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.subsystems.Arm;
+import frc4388.robot.subsystems.SwerveDrive;
 
-public class RunArmIn extends CommandBase {
-  private final Arm m_arm;
-
-  public RunArmIn(Arm arm) {
-    m_arm = arm;
-    addRequirements();
+public class LimeAlign extends CommandBase {
+  public LimeAlign(SwerveDrive drive) {
+    addRequirements(drive);
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-    m_arm.setTeleVel(1, true);
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
@@ -32,6 +29,6 @@ public class RunArmIn extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_arm.isTeleIn();
+    return false;
   }
 }

src/main/java/frc4388/robot/commands/PivotCommand.java

@@ -27,6 +27,6 @@ public class PivotCommand extends PelvicInflammatoryDisease {
   @Override
   public void runWithOutput(double output) {
     SmartDashboard.putNumber("pivot output", output);
-    arm.setRotVel(output, true);
+    arm.setRotVel(output);
   }
 }

src/main/java/frc4388/robot/commands/TeleCommand.java

@@ -27,6 +27,6 @@ public class TeleCommand extends PelvicInflammatoryDisease {
 
   @Override
   public void runWithOutput(double output) {
-    arm.setTeleVel(output, true);
+    arm.setTeleVel(output);
   }
 }