W are having trouble keeping an arm in position once it pivots to the setpoint. We were able to successfully tune the extend/retract of our arm using Motion Magic with no issues. We can pivot to a set position using Motion Magic; however, we do not understand how to hold that position. We are using a Falcon 500 and the built-in encoder. I am not sure what else to include besides the following two code snippets. New to Java so please go easy on me.

```
public void setPivotMotionMagic(double targetRotations) {
double targetTicks = targetRotations * 80 * 2048;
double horizontalHoldOutput = 0.15;
double arbFeedFwdTerm = getFeedForward(horizontalHoldOutput);
//pivotMotor.set(TalonFXControlMode.MotionMagic, targetTicks);
pivotMotor.set(TalonFXControlMode.MotionMagic, targetTicks, DemandType.ArbitraryFeedForward, arbFeedFwdTerm);
```

We use ArbitraryFeedForward and calculate based on a horizontal hold output which we found using Phoenix Tuner and set at 0.15 of motor power.

```
private double getFeedForward(double horizontalHoldOutput) {
double pivotSensorPosition = pivotMotor.getSelectedSensorPosition(0);
double pivotCurrentAngle = (pivotSensorPosition/80*360/2048); //lowest position is 0 via sensor; needs 45 deg offset
// double theta = Math.toRadians(90 - (pivotCurrentAngle + 45)); //angle of elevation for arm; 90 is max hold
double theta = Math.toRadians(56 - pivotCurrentAngle);
double gravityCompensation = Math.cos(theta);
double arbFeedFwd = gravityCompensation * horizontalHoldOutput;
return arbFeedFwd;
}
```

Full code is GitHub - FRC8167/PizzaPlanetCLAW-H