Merge branch 'SimpleArmSupport' of https://github.com/DevilBotz2876/R…

…omiTutorial2023 into SimpleArmSupport

src/main/java/frc/robot/RobotContainer.java

@@ -105,8 +105,9 @@ private void configureButtonBindings() {
 
     // START: Setup arm
     // Use the controller's right stick's forward/back (Y-axis) to control the arm base speed
-    // In this case, we want "forward" = "arm up", but forward is reported as a negative value from
-    // the stick, so we negate the returned value.
+    // In this case, we want "forward" = "arm up" = positive value, but forward is reported as a
+    // negative value from
+    // the controller's stick, so we negate the returned value.
     m_arm.setDefaultCommand(new ArmCommand(m_arm, () -> -m_controller.getRightY()));
     // END: Setup arm
   }

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

@@ -6,12 +6,16 @@
 import java.util.function.DoubleSupplier;
 
 public class ArmCommand extends CommandBase {
-  private final Arm m_arm; // the arm subsystem used by this comment
-  private final DoubleSupplier m_baseSpeed; // the supplier of the desired speed
-  private final double m_defaultPosition =
-      0.5; // default start position for the arm when the command is first scheduled
-  private final double m_deadband =
-      0.05; // to prevent stick drift, this value sets the min absolute value the speed needs to be
+  // the arm subsystem used by this comment
+  private final Arm m_arm;
+
+  // the supplier of the desired speed
+  private final DoubleSupplier m_baseSpeed;
+
+  // default start position for the arm when the command is first scheduled
+  private final double m_defaultPosition = 0.5;
+
+  // to prevent stick drift, this value sets the min absolute value the speed needs to be
   // before we assume it is not zero
   private final double m_speedScale =
       16; // to reduce stick sensitivity, this value indicates how much to scale the returned speed
@@ -37,6 +41,7 @@ public void initialize() {
   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 newBasePositionDelta = MathUtil.applyDeadband(m_baseSpeed.getAsDouble(), m_deadband);
     // Scale the speed as desired to reduce sensitivity

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

@@ -14,7 +14,11 @@ public class Arm extends SubsystemBase {
   // private final Servo m_armElbowServo = new Servo(2);
 
   /**
-   * Moves the arm base to the desired position. 0.0 is max down and 1.0 is max up
+   * Moves the arm base to the desired position. -1.0 is max down, and 1.0 is max up
+   *
+   * <p>Note: The concept of "up and down" depends on how the servo is mounted to the arm. E.g. if
+   * the servo is flipped, the directions would be reversed. This module abstracts the hardware
+   * implementation details and follows the convention of 1.0 is up.
    *
    * @param position desired target position for arm base [0.0 to 1.0]
    */