Team4388/2019-Hit-or-Miss
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Merge remote-tracking branch 'origin/arm-limit-switches' into arm-target-height

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Keenan D. Buckley
2019-03-09 13:15:09 -07:00
parent c8f860339d 99a9f76d16
commit 623e736cd6
1 changed files with 8 additions and 0 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
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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.SensorCollection;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; 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.Solenoid;
import edu.wpi.first.wpilibj.command.Subsystem; import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -103,6 +104,9 @@ public class Arm extends Subsystem implements ControlLoopable
private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
public static final double PID_ERROR_INCHES = 5.0; public static final double PID_ERROR_INCHES = 5.0;
LimitSwitchSource limitSwitchSource; LimitSwitchSource limitSwitchSource;
DigitalInput forwardLimitSwitch = new DigitalInput(1);
DigitalInput reverseLimitSwitch = new DigitalInput(2);
// Pneumatics // Pneumatics
private Solenoid speedShift; private Solenoid speedShift;
@@ -296,6 +300,10 @@ public class Arm extends Subsystem implements ControlLoopable
} }
lastControlLoopUpdateTimestamp = currentTimestamp; lastControlLoopUpdateTimestamp = currentTimestamp;
if (reverseLimitSwitch.get()){
motor1.setPosition(0);
}
// Do the update // Do the update
if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) { if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
controlManualWithJoystick(); controlManualWithJoystick();