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hood soft limits + setter method

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This commit is contained in:
aarav18
2022-02-28 17:20:01 -07:00
parent 9c58e04ec7
commit 14cd859005
3 changed files with 24 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+17 -2
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@@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -38,10 +39,14 @@ public double m_fireAngle;
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
@@ -49,6 +54,16 @@ public double m_fireAngle;
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Set status of hood motor soft limits.
* @param set Boolean to set soft limits to.
*/
public void setHoodSoftLimits(boolean set) {
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients