Fixed requested edits

chopshop-166 · Feb 13, 2025 · e3466b2 · e3466b2
1 parent 8e5f977
commit e3466b2
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ArmRotate.java b/src/main/java/frc/robot/subsystems/ArmRotate.java
@@ -62,15 +62,15 @@ public Command moveTo(ArmRotatePresets level) {
     public Command zero() {
         return runSafe(() -> {
             getData().motor.setpoint = ZEROING_SPEED;
-        }).until(() -> getMap().motor.errored()).andThen(resetCmd());
+        }).until(() -> getMap().motor.validate()).andThen(resetCmd());
     }
 
     public Command moveToZero() {
         return startSafe(() -> {
             getData().motor.setpoint = ZEROING_SPEED;
             preset = ArmRotatePresets.OFF;
         }).until(() -> {
-            return getArmAngle() < getMap().armRotatePreset.getValue(ArmRotatePresets.STOW);
+            return getArmAngle() > getMap().armRotatePreset.getValue(ArmRotatePresets.STOW);
         });
     }