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limit switches

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This commit is contained in:
aarav18
2022-02-08 17:24:17 -07:00
parent 4dabf7021e
commit 44870c8aa1
3 changed files with 133 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+6 -8
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@@ -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