Changes based on code review feedback

src/main/java/frc/robot/commands/ArmCommand.java

@@ -16,7 +16,7 @@ public class ArmCommand extends CommandBase {
   private final double m_speedScale =
       16; // to reduce stick sensitivity, this value indicates how much to scale the returned speed
   // by
-  private final double m_minBaseRange = -1; // min range for the arm's base
+  private final double m_minBaseRange = 0; // min range for the arm's base
   private final double m_maxBaseRange = 1; // max range for the arm's base
 
   public ArmCommand(Arm arm, DoubleSupplier baseSpeed) {
@@ -38,12 +38,12 @@ public void execute() {
     // Variable that will store the new calculated arm position
     double newArmPosition;
     // Determine the requested speed, but ignoring inputs near-zero (i.e. +/= m_deadband)
-    double currentShoulderSpeed = MathUtil.applyDeadband(m_baseSpeed.getAsDouble(), m_deadband);
+    double newBasePositionDelta = MathUtil.applyDeadband(m_baseSpeed.getAsDouble(), m_deadband);
     // Scale the speed as desired to reduce sensitivity
-    currentShoulderSpeed /= m_speedScale;
+    newBasePositionDelta /= m_speedScale;
 
     // Calculate the arm position by adding the computer speed to the arm base's current position
-    newArmPosition = m_arm.getArmBasePosition() + currentShoulderSpeed;
+    newArmPosition = m_arm.getArmBasePosition() + newBasePositionDelta;
 
     // Clamp the arm's upper/lower position to the min/max range allowed
     newArmPosition = MathUtil.clamp(newArmPosition, m_minBaseRange, m_maxBaseRange);

src/main/java/frc/robot/subsystems/Arm.java

@@ -14,9 +14,9 @@ public class Arm extends SubsystemBase {
   // private final Servo m_armElbowServo = new Servo(2);
 
   /**
-   * Moves the arm base to the desired position. -1.0 is max down, and 1.0 is max up
+   * Moves the arm base to the desired position. 0.0 is max down and 1.0 is max up
    *
-   * @param position desired target position for arm base [-1.0 to 1.0]
+   * @param position desired target position for arm base [0.0 to 1.0]
    */
   public void setArmBasePosition(double position) {
     // Note: This code doesn't validate the requested position.  If we don't want the arm to move