From a0a6776eeaea6e51718e60df8bef336657662cfb Mon Sep 17 00:00:00 2001
From: JosephTLockwood <56933815+JosephTLockwood@users.noreply.github.com>
Date: Mon, 3 Feb 2025 10:17:09 -0500
Subject: [PATCH] Make arm match

---
 .../java/frc/robot/subsystems/arm/Arm.java    | 22 +++++++++----------
 .../robot/subsystems/flywheel/Flywheel.java   |  2 +-
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/arm/Arm.java b/src/main/java/frc/robot/subsystems/arm/Arm.java
index 4419b46..3daecac 100644
--- a/src/main/java/frc/robot/subsystems/arm/Arm.java
+++ b/src/main/java/frc/robot/subsystems/arm/Arm.java
@@ -110,21 +110,21 @@ private enum ArmMode {
   /**
    * Gets the current arm position mode.
    *
-   * @return The current ArmPosition
+   * @return The current ArmMode
    */
   public ArmMode getMode() {
     return currentMode;
   }
 
   /**
-   * Sets a new arm position and schedules the corresponding command.
+   * Sets a new arm mode and schedules the corresponding command.
    *
-   * @param position The desired ArmPosition
+   * @param mode The desired ArmMode
    */
-  private void setArmPosition(ArmMode position) {
-    if (currentMode != position) {
+  private void setArmMode(ArmMode mode) {
+    if (currentMode != mode) {
       currentCommand.cancel();
-      currentMode = position;
+      currentMode = mode;
       currentCommand.schedule();
     }
   }
@@ -181,14 +181,14 @@ private Angle targetAngle() {
   }
 
   /**
-   * Creates a command to set the arm to a specific position.
+   * Creates a command to set the arm to a specific mode.
    *
-   * @param mode The desired arm position
-   * @return Command to set the position
+   * @param mode The desired arm mode
+   * @return Command to set the mode
    */
   private Command setPositionCommand(ArmMode mode) {
-    return Commands.runOnce(() -> setArmPosition(mode))
-        .withName("SetArmPosition(" + mode.toString() + ")");
+    return Commands.runOnce(() -> setArmMode(mode))
+        .withName("SetArmMode(" + mode.toString() + ")");
   }
 
   /** Factory methods for common position commands */
diff --git a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
index 434db20..5176f4c 100644
--- a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
+++ b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
@@ -178,7 +178,7 @@ private AngularVelocity targetSpeed() {
    */
   private Command setVelocityCommand(FlywheelMode mode) {
     return Commands.runOnce(() -> setFlywheelMode(mode))
-        .withName("SetFlywheelVelocity(" + mode.toString() + ")");
+        .withName("SetFlywheelMode(" + mode.toString() + ")");
   }
 
   /** Factory methods for common mode commands */