From 6ffbdc57c686da5df40081d5c3e1daea892ff4b8 Mon Sep 17 00:00:00 2001 From: Ryan Date: Thu, 24 Mar 2022 09:35:02 -0600 Subject: [PATCH] Climber folded bool --- src/main/java/frc4388/robot/subsystems/Climber.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java index b44128b..0b589ac 100644 --- a/src/main/java/frc4388/robot/subsystems/Climber.java +++ b/src/main/java/frc4388/robot/subsystems/Climber.java @@ -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)); } } \ No newline at end of file