Team4388/2019-Hit-or-Miss
1
0
Fork 0
mirror of https://github.com/Team4388/2019-Hit-or-Miss.git synced 2026-06-09 00:28:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Limit Switch Added to Wrist

Browse Source
This commit is contained in:
mayabartels
2019-02-14 15:52:14 -08:00
parent a728e1dda3
commit 3e2b0dc235
1 changed files with 16 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+16 -1
View File
@@ -28,6 +28,10 @@ import com.ctre.phoenix.motorcontrol.SensorCollection;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.command.WaitCommand;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.ControlMode;
/**
@@ -83,6 +87,9 @@ public class Wrist extends Subsystem
public static final double armAngleForPIDSwitch = -45; ///Change values
public static final boolean ballIntakeOut = true;
//control mode for joystick control
private DriveControlMode controlMode = DriveControlMode.JOYSTICK;
//Misc
private WristControlMode wristControlMode = WristControlMode.JOYSTICK_MANUAL;
@@ -93,12 +100,20 @@ public class Wrist extends Subsystem
private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
private double joystickDegreesPerMs = JOYSTICK_Degrees_PER_MS_LO;
LimitSwitchSource limitSwitchSource;
private boolean pressed;
SensorCollection isPressed;
public Wrist()
{
try
{
//PID wrist encoder and talon
wristRight = new CANTalonEncoder(RobotMap.WRIST_RIGHT_MOTOR_CAN_ID, WRIST_ENCODER_TICKS_TO_DEGREES, FeedbackDevice.QuadEncoder);
wristRight = new CANTalonEncoder(RobotMap.WRIST_RIGHT_MOTOR_CAN_ID, WRIST_ENCODER_TICKS_TO_DEGREES, FeedbackDevice.QuadEncoder);
//Limit Switch
wristRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
wristRight.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
}
catch(Exception e)
{