From 623fa4b9ab45e4a18437a6a48a93e912c77f95a8 Mon Sep 17 00:00:00 2001
From: John Gilbert <johngilb@gmail.com>
Date: Fri, 23 Feb 2024 19:02:16 -0800
Subject: [PATCH] Both fundamental and advanced gamepads can move the arm.

---
 .../subsystems/arm/commands/ArmMaintainerCommand.java    | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/main/java/competition/subsystems/arm/commands/ArmMaintainerCommand.java b/src/main/java/competition/subsystems/arm/commands/ArmMaintainerCommand.java
index 41ec1977..992091f3 100644
--- a/src/main/java/competition/subsystems/arm/commands/ArmMaintainerCommand.java
+++ b/src/main/java/competition/subsystems/arm/commands/ArmMaintainerCommand.java
@@ -119,10 +119,17 @@ protected double getErrorMagnitude() {
 
     @Override
     protected Double getHumanInput() {
-        return MathUtils.deadband(
+        double fundamentalInput = MathUtils.deadband(
                 oi.operatorFundamentalsGamepad.getLeftVector().y,
                 oi.getOperatorGamepadTypicalDeadband(),
                 (x) -> x);
+
+        double advancedInput = MathUtils.deadband(
+                oi.operatorGamepadAdvanced.getLeftVector().y,
+                oi.getOperatorGamepadTypicalDeadband(),
+                (x) -> x);
+
+        return fundamentalInput + advancedInput;
     }
 
     @Override