From 70e4020fc04b9c7e10872f280cbc8b739283fee3 Mon Sep 17 00:00:00 2001
From: MysticalApple <timon.cappellapimor@gmail.com>
Date: Tue, 23 Jan 2024 17:50:49 -0800
Subject: [PATCH] constant climb speed

---
 src/main/java/frc/robot/subsystems/climb/ClimbArm.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/climb/ClimbArm.java b/src/main/java/frc/robot/subsystems/climb/ClimbArm.java
index 356d14da..ba3bb542 100644
--- a/src/main/java/frc/robot/subsystems/climb/ClimbArm.java
+++ b/src/main/java/frc/robot/subsystems/climb/ClimbArm.java
@@ -47,7 +47,8 @@ public void update() {
         if (isAtExtension())
             winchMotor.set(0);
         else
-            winchMotor.set(MathUtil.clamp(desiredExtension - extensionEncoder.getPosition() , -MAX_WINCH_POWER, MAX_WINCH_POWER));
+            winchMotor.set(desiredExtension > extensionEncoder.getPosition()
+                ? MAX_WINCH_POWER : -MAX_WINCH_POWER);
 
     }