feat: setSpeed for pivot

FRC3636 · Dec 12, 2024 · a39e52e · a39e52e
1 parent 9edc483
commit a39e52e
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/arm/Arm.kt b/src/main/kotlin/com/frcteam3636/frc2024/subsystems/arm/Arm.kt
@@ -87,6 +87,13 @@ object Arm : Subsystem {
             io.pivotToPosition(inputs.position)
         })!!
 
+    fun setSpeed(percent: Double) = 
+        startEnd({
+            io.setVoltage(Volts.of(percent * 12.0))
+        }, {
+            io.setVoltage(Volts.of(0.0))
+        })!!
+
     fun sysIdQuasistatic(direction: Direction) =
         sysID.quasistatic(direction)!!