From 503dcd78455c6f2aa0e180bac485c538a547d8b9 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Thu, 7 Apr 2022 19:48:09 -0600 Subject: [PATCH] Add an extender reset button to SmartDashboard --- src/main/java/frc4388/robot/subsystems/Extender.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc4388/robot/subsystems/Extender.java b/src/main/java/frc4388/robot/subsystems/Extender.java index da30563..08c88bc 100644 --- a/src/main/java/frc4388/robot/subsystems/Extender.java +++ b/src/main/java/frc4388/robot/subsystems/Extender.java @@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.CANSparkMax.SoftLimitDirection; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ExtenderConstants; @@ -34,6 +35,7 @@ public class Extender extends SubsystemBase { m_extenderMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ExtenderConstants.EXTENDER_FORWARD_LIMIT); m_extenderMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ExtenderConstants.EXTENDER_REVERSE_LIMIT); setExtenderSoftLimits(true); + SmartDashboard.putData(new InstantCommand(() -> m_extenderMotor.getEncoder().setPosition(0))); } /**