Merge branch 'main' of https://github.com/eshsrobotics/swervebot

Author: RushilGhosh

src/main/java/frc/robot/subsystems/ArmSubsystem.java

@@ -74,7 +74,7 @@ public ArmSubsystem(InputSubsystem inputSubsystem) {
         liftConfig.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
 
         SparkMaxConfig followLiftConfig = new SparkMaxConfig();
-        followLiftConfig.apply(liftConfig);
+        followLiftConfig.follow(Constants.ArmConstants.LEFT_LIFT_CAN_ID).apply(liftConfig);
 
 
         SparkMaxConfig coralConfig = new SparkMaxConfig();
@@ -83,6 +83,7 @@ public ArmSubsystem(InputSubsystem inputSubsystem) {
         SparkMaxConfig followCoralConfig = new SparkMaxConfig();
         followCoralConfig.follow(Constants.ArmConstants.LEFT_CORAL_CAN_ID).apply(coralConfig);
 
+
         followLiftConfig.follow(Constants.ArmConstants.LEFT_LIFT_CAN_ID, true);
         followCoralConfig.follow(Constants.ArmConstants.LEFT_CORAL_CAN_ID, true);
 

src/main/java/frc/robot/subsystems/InputSubsystem.java

@@ -234,6 +234,8 @@ public double getDesiredPosition() {
     public double getArmMovement() {
         if(xboxController != null && xboxController.isConnected() == true) {
             if (xboxController.getYButton()) {
+                return Constants.ArmConstants.LIFT_SPEED;
+            } else if (xboxController.getAButton()) {
                 return Constants.ArmConstants.LIFT_SPEED * -1;
             } else if (xboxController.getAButton()) {
                 return Constants.ArmConstants.LIFT_SPEED;