Switch to Arm base class over interface

redshiftrobotics · Mar 1, 2024 · e1694f7 · e1694f7
1 parent ea27319
commit e1694f7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -15,7 +15,7 @@
 import frc.robot.subsystems.SwerveDrivetrain;
 import frc.robot.subsystems.SwerveModule;
 import frc.robot.subsystems.Vision;
-import frc.robot.subsystems.arm.ArmInterface;
+import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.arm.DummyArm;
 import frc.robot.subsystems.arm.RealArm;
 import frc.robot.inputs.ChassisDriveInputs;
@@ -81,7 +81,7 @@ public class RobotContainer {
 	 * if ArmConstants.HAS_ARM is false, a dummy class implementing the arm's API is
 	 * created instead to prevent errors.
 	 */
-	private final ArmInterface arm = Constants.ArmConstants.HAS_ARM ? new RealArm(
+	private final Arm arm = Constants.ArmConstants.HAS_ARM ? new RealArm(
 			ArmConstants.LEFT_MOTOR_ID,
 			ArmConstants.RIGHT_MOTOR_ID,
 			ArmConstants.RIGHT_ENCODER_ID,

diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
@@ -1,7 +1,7 @@
 package frc.robot.commands;
 
 import frc.robot.subsystems.SwerveDrivetrain;
-import frc.robot.subsystems.arm.ArmInterface;
+import frc.robot.subsystems.arm.Arm;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -25,7 +25,7 @@ public static Command rotateTestAuto(SwerveDrivetrain drivetrain, double degrees
 	}
 
 	/** Linden did this */
-	public static Command startingAuto(ArmInterface arm, SwerveDrivetrain drivetrain, boolean invertY) {
+	public static Command startingAuto(Arm arm, SwerveDrivetrain drivetrain, boolean invertY) {
 
 		// assumes start position in corner
 		double invert = 1;