From 863565c7029c8248fc694991b82e13d794b84fe6 Mon Sep 17 00:00:00 2001
From: Brandon <83319404+BrandonS09@users.noreply.github.com>
Date: Wed, 6 Mar 2024 19:52:29 +0000
Subject: [PATCH] if speeds is 0 in armTeleop, returns, fix to #24?

---
 src/main/java/org/carlmontrobotics/commands/ArmTeleop.java | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
index 5ab448fc..da606b70 100644
--- a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
+++ b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -49,7 +49,9 @@ public void execute() {
     double speeds = getRequestedSpeeds();
     double currTime = Timer.getFPGATimestamp();
     double deltaT = currTime - lastTime;
-
+    if (speeds == 0){
+      return;
+    }
     double goalArmRad = goalState.position + speeds * deltaT;
     goalArmRad = MathUtil.clamp(goalArmRad, UPPER_ANGLE_LIMIT_RAD, LOWER_ANGLE_LIMIT_RAD);
     goalArmRad = MathUtil.clamp(goalArmRad, armSubsystem.getArmPos() + ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD,