diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d172a81..a72a206 100644 --- 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 index 31a93a2..cf0b373 100644 --- 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;