added sensor stuff

constants.py

@@ -1,6 +1,6 @@
 from math import pi
 
-arm_min_rotation: float = 10*(pi/180) #placeholders
+arm_min_rotation: float = 11*(pi/180)
 arm_max_rotation: float = 200*(pi/180)
 
 arm_gear_ratio = 48

subsystem/arm.py

@@ -8,7 +8,7 @@
 from toolkit.subsystem import Subsystem
 from toolkit.motors.ctre_motors import TalonFX, TalonConfig
 
-class arm(Subsystem):
+class Arm(Subsystem):
     def __init__(self):
         super().__init__()
 
@@ -27,25 +27,35 @@ def __init__(self):
         self.target_angle: radians = 0
 
     def init(self):
-            self.motor.init()
-            self.motor_follower.init()
+        self.motor.init()
+        self.motor_follower.init()
 
-            self.motor_follower.follow(self.motor, True)
+        self.motor_follower.follow(self.motor, True)
 
     def raise_arm(self):
-            self.motor.set_target_velocity(config.arm_speed)
+        self.motor.set_target_velocity(config.arm_speed)
 
     def lower_arm(self):
-            self.motor.set_target_velocity(-config.arm_speed)
+        self.motor.set_target_velocity(-config.arm_speed)
 
     def stop_arm(self):
-            self.motor.set_target_velocity(0)
+        self.motor.set_target_velocity(0)
+
+    def get_current(self) -> float:
+        return self.motor.get_motor_current()
+
+    def set_sensor_position(self, position: float):
+        self.motor.set_sensor_position(position)
+
+    def reset_sensor_position(self):
+        current_position = self.motor.get_sensor_position()
+        self.set_sensor_position(current_position)
 
     def get_arm_angle(self):
         return (
-                (self.motor.get_sensor_position() / constants.arm_gear_ratio)
-                * pi
-                * 2
+            (self.motor.get_sensor_position() / constants.arm_gear_ratio)
+            * pi
+            * 2
         )
 
     def limit_angle(self, angle: radians) -> radians: