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Climber folded bool

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Ryan
2022-03-24 09:35:02 -06:00
parent a901aa0ae3
commit 6ffbdc57c6
1 changed files with 3 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+3 -1
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@@ -6,6 +6,7 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ClimberConstants;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
@@ -18,7 +19,7 @@ public class Climber extends SubsystemBase {
public Climber(WPI_TalonFX elbow) {
this.elbow = elbow;
elbow.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
elbow.overrideLimitSwitchesEnable(true);
elbow.overrideLimitSwitchesEnable(true); //Check
elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); // Tune
elbow.configReverseSoftLimitEnable(false);
@@ -38,5 +39,6 @@ public class Climber extends SubsystemBase {
@Override
public void periodic() {
SmartDashboard.putBoolean("Climber Folded", (elbow.isFwdLimitSwitchClosed() == 1));
}
}