From 3e2b0dc235582dd029b508e951b057123fc42048 Mon Sep 17 00:00:00 2001 From: mayabartels Date: Thu, 14 Feb 2019 15:52:14 -0800 Subject: [PATCH] Limit Switch Added to Wrist --- .../usfirst/frc4388/robot/subsystems/Wrist.java | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java index 5f3b0b1..bc9fd7c 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java @@ -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) {