From e1694f74bed809833cdfab066afd87d0316debc3 Mon Sep 17 00:00:00 2001
From: michael-lesirge <100492377+michael-lesirge@users.noreply.github.com>
Date: Thu, 29 Feb 2024 16:37:42 -0800
Subject: [PATCH] Switch to Arm base class over interface

---
 src/main/java/frc/robot/RobotContainer.java | 4 ++--
 src/main/java/frc/robot/commands/Autos.java | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

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;