From 44870c8aa13ca5c9fc89f680caf7c83af9d4158b Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Tue, 8 Feb 2022 17:24:17 -0700
Subject: [PATCH] limit switches

---
 simgui-ds.json                                | 101 ++++++++++++++++++
 simgui.json                                   |  26 +++++
 .../java/frc4388/robot/subsystems/Intake.java |  14 ++-
 3 files changed, 133 insertions(+), 8 deletions(-)
 create mode 100644 simgui-ds.json
 create mode 100644 simgui.json

diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..b16ea5c
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,101 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "useGamepad": true
+    },
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
new file mode 100644
index 0000000..4af852e
--- /dev/null
+++ b/simgui.json
@@ -0,0 +1,26 @@
+{
+  "HALProvider": {
+    "Other Devices": {
+      "SPARK MAX [5]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [6]": {
+        "header": {
+          "open": true
+        }
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/LiveWindow/Intake": "Subsystem",
+      "/LiveWindow/LED": "Subsystem",
+      "/LiveWindow/Serializer": "Subsystem",
+      "/LiveWindow/Ungrouped/DigitalInput[3]": "Digital Input",
+      "/LiveWindow/Ungrouped/Scheduler": "Scheduler"
+    }
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index ffb1b94..9bc97d7 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -14,15 +14,14 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.SparkMaxLimitSwitch;
 import com.revrobotics.CANSparkMax.IdleMode;
 
 public class Intake extends SubsystemBase {
 
   private WPI_TalonFX m_intakeMotor;
   private CANSparkMax m_extenderMotor;
-  // private SparkMaxLimitSwitch m_inLimit;
-  // private SparkMaxLimitSwitch m_outLimit;
+  private SparkMaxLimitSwitch m_inLimit;
+  private SparkMaxLimitSwitch m_outLimit;
 
   public boolean toggle;
 
@@ -31,17 +30,16 @@ public class Intake extends SubsystemBase {
     m_intakeMotor = intakeMotor;
     m_extenderMotor = extenderMotor; 
 
-    
     m_extenderMotor.restoreFactoryDefaults();
 
     m_intakeMotor.setNeutralMode(NeutralMode.Brake);
     m_intakeMotor.setInverted(false);
     m_extenderMotor.setInverted(true);
     
-    // m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    // m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    // m_inLimit.enableLimitSwitch(true);
-    // m_outLimit.enableLimitSwitch(true);
+    m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_inLimit.enableLimitSwitch(true);
+    m_outLimit.enableLimitSwitch(true);
   }
 
   @Override