fixed stuff

Author: ShmayaR

src/main/java/frc/trigon/robot/subsystems/arm/Arm.java

@@ -150,7 +150,7 @@ void prepareForState(ArmConstants.ArmState targetState, boolean isStateReversed)
         this.targetState = targetState;
 
         if (isStateReversed) {
-            subtractFrom360(targetState.targetAngle);
+            setTargetAngle(subtractFrom360(targetState.targetAngle));
             return;
         }
         setTargetAngle(targetState.targetAngle);

src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java

@@ -85,10 +85,10 @@ public boolean isElevatorAboveSafeZone() {
         return getPositionMeters() >= ElevatorConstants.MAXIMUM_ELEVATOR_SAFE_ZONE_METERS;
     }
 
-    void loadCoralFromElevator() {
+    void prepareLoadCoral() {
         this.targetState = ElevatorConstants.ElevatorState.LOAD_CORAL;
         scalePositionRequestSpeed(targetState.speedScalar);
-        masterMotor.setControl(positionRequest.withPosition(ElevatorConstants.ElevatorState.LOAD_CORAL.targetPositionMeters));
+        masterMotor.setControl(positionRequest.withPosition(metersToRotations(ElevatorConstants.ElevatorState.LOAD_CORAL.targetPositionMeters)));
     }
 
     void setTargetState(ElevatorConstants.ElevatorState targetState) {

src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorCommands.java

@@ -19,9 +19,9 @@ public static Command getDebbugingCommand() {
         );
     }
 
-    public static Command getLoadCoralFromElevatorCommand() {
+    public static Command getPrepareLoadCoral() {
         return new StartEndCommand(
-                RobotContainer.ELEVATOR::loadCoralFromElevator,
+                RobotContainer.ELEVATOR::prepareLoadCoral,
                 RobotContainer.ELEVATOR::stop,
                 RobotContainer.ELEVATOR
         ).onlyIf(() -> RobotContainer.ARM.atState(ArmConstants.ArmState.REST));