Team4388/2019-Hit-or-Miss
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Add limit switches to code

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Encoder position will zero out whenever the arm hits the bottom limit switch. The Digital Output ids still need to be configured.
This commit is contained in:
Keenan D. Buckley
2019-03-08 19:29:57 -07:00
parent f74093ca12
commit 99a9f76d16
1 changed files with 8 additions and 0 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+8
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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 +94,9 @@ public class Arm extends Subsystem implements ControlLoopable
private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
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;
@@ -270,6 +274,10 @@ public class Arm extends Subsystem implements ControlLoopable
}
lastControlLoopUpdateTimestamp = currentTimestamp;
if (reverseLimitSwitch.get()){
motor1.setPosition(0);
}
// Do the update
if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
controlManualWithJoystick();