merge staging into elevator

flamingchickens1540 · Feb 2, 2024 · 9fe27ba · 9fe27ba
2 parents 1862263 + 48618e7
commit 9fe27ba
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOSim.java
@@ -28,15 +28,15 @@ public class ShooterPivotIOSim implements ShooterPivotIO {
     private final ArmFeedforward feedforward = new ArmFeedforward(KS, KG, KV);
 
     private boolean isClosedLoop;
-    private TrapezoidProfile.State setpoint;
+    private TrapezoidProfile.State goalState;
 
     private double appliedVolts;
 
     @Override
     public void updateInputs(ShooterPivotIOInputs inputs) {
         if (isClosedLoop) {
             appliedVolts =
-                    controller.calculate(Units.radiansToRotations(sim.getAngleRads()), setpoint)
+                    controller.calculate(Units.radiansToRotations(sim.getAngleRads()), goalState)
                     + feedforward.calculate(
                             Units.rotationsToRadians(controller.getSetpoint().position),
                             controller.getSetpoint().velocity);
@@ -58,7 +58,7 @@ public void setPosition(Rotation2d position) {
                 Units.radiansToRotations(sim.getVelocityRadPerSec())
         );
         isClosedLoop = true;
-        setpoint = new TrapezoidProfile.State(position.getRadians(), 0);
+        goalState = new TrapezoidProfile.State(position.getRadians(), 0);
     }
 
     @Override