From e3466b2f87185e9555d436d45b2d307f95b92f5d Mon Sep 17 00:00:00 2001
From: Nin <flyingchives@gmail.com>
Date: Wed, 12 Feb 2025 19:16:37 -0500
Subject: [PATCH] Fixed requested edits

---
 src/main/java/frc/robot/subsystems/ArmRotate.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/ArmRotate.java b/src/main/java/frc/robot/subsystems/ArmRotate.java
index ee1c180..c755e8c 100644
--- a/src/main/java/frc/robot/subsystems/ArmRotate.java
+++ b/src/main/java/frc/robot/subsystems/ArmRotate.java
@@ -62,7 +62,7 @@ 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() {
@@ -70,7 +70,7 @@ public Command moveToZero() {
             getData().motor.setpoint = ZEROING_SPEED;
             preset = ArmRotatePresets.OFF;
         }).until(() -> {
-            return getArmAngle() < getMap().armRotatePreset.getValue(ArmRotatePresets.STOW);
+            return getArmAngle() > getMap().armRotatePreset.getValue(ArmRotatePresets.STOW);
         });
     }