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Update Limit Switch code in Arm.java

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This commit is contained in:
Keenan D. Buckley
2019-03-09 15:52:24 -07:00
parent 99a9f76d16
commit 7269697ac9
1 changed files with 1 additions and 3 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+1 -3
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@@ -94,8 +94,6 @@ 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 = 5.0;
LimitSwitchSource limitSwitchSource;
DigitalInput forwardLimitSwitch = new DigitalInput(1);
DigitalInput reverseLimitSwitch = new DigitalInput(2);
// Pneumatics
private Solenoid speedShift;
@@ -274,7 +272,7 @@ public class Arm extends Subsystem implements ControlLoopable
}
lastControlLoopUpdateTimestamp = currentTimestamp;
if (reverseLimitSwitch.get()){
if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
motor1.setPosition(0);
}