Use getArmPos() and setPoint.velocity and instead of goalState

[brettle]

RobotCode2024/src/main/java/org/carlmontrobotics/subsystems/Arm.java

Line 163 in 864bd30

double armFeedVolts = armFeed.calculate(goalState.position, goalState.velocity);

The kG portion of the feedforward should be based on the arm's current position (ie getArmPos()) and the kV portion should be based on the profiled velocity (ie setPoint.velocity). Neither should be based on goalState.

[BrandonS09]

Fixed in 0dd661b