Team4388/2019-Hit-or-Miss
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Merge branch 'arm-limit-switches' into develop

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This commit is contained in:
Keenan D. Buckley
2019-03-09 15:52:52 -07:00
parent 387558d635 7269697ac9
commit 61147c2c15
1 changed files with 6 additions and 0 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+6
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@@ -21,6 +21,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.SensorCollection;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -93,6 +94,7 @@ public class Arm extends Subsystem implements ControlLoopable
private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
public static final double PID_ERROR_INCHES = 5;
LimitSwitchSource limitSwitchSource;
// Pneumatics
private Solenoid speedShift;
@@ -273,6 +275,10 @@ public class Arm extends Subsystem implements ControlLoopable
}
lastControlLoopUpdateTimestamp = currentTimestamp;
if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
motor1.setPosition(0);
}
// Do the update
if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
controlManualWithJoystick();