From ec3ea78280ee483a3467da353222324ef4073b71 Mon Sep 17 00:00:00 2001
From: Brandon <brandonshen123@gmail.com>
Date: Tue, 5 Mar 2024 16:39:56 -0800
Subject: [PATCH] fix for #24

---
 src/main/java/org/carlmontrobotics/RobotContainer.java     | 7 -------
 src/main/java/org/carlmontrobotics/commands/ArmTeleop.java | 2 ++
 2 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
index 0657dc65..1ac4af18 100644
--- a/src/main/java/org/carlmontrobotics/RobotContainer.java
+++ b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -58,17 +58,10 @@ private void setDefaultCommands() {
     // () -> ProcessedAxisValue(driverController, Axis.kRightX)),
     // () -> driverController.getRawButton(OI.Driver.slowDriveButton)
     // ));
-
     arm.setDefaultCommand(new ArmTeleop(arm, () -> inputProcessing(getStickValue(manipulatorController, Axis.kLeftY))));
   }
 
   private void setBindingsDriver() {
-    new JoystickButton(driverController, Button.kX.value)
-        .whileTrue(arm.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
-    new JoystickButton(driverController, Button.kY.value)
-        .whileTrue(arm.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
-    new JoystickButton(driverController, Button.kB.value).whileTrue(arm.sysIdDynamic(SysIdRoutine.Direction.kForward));
-    new JoystickButton(driverController, Button.kA.value).whileTrue(arm.sysIdDynamic(SysIdRoutine.Direction.kReverse));
     // 4 cardinal directions on arrowpad
     // slowmode toggle on trigger
     // 3 cardinal directions on letterpad
diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
index 5ab448fc..c4a15532 100644
--- a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
+++ b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -46,6 +46,8 @@ public void initialize() {
   public void execute() {
     // use trapazoid math and controllerMoveArm method from arm subsytem to apply
     // voltage to the motor
+    if (Constants.OI.JOY_THRESH == 0)
+      return;
     double speeds = getRequestedSpeeds();
     double currTime = Timer.getFPGATimestamp();
     double deltaT = currTime - lastTime;