Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Climber folded bool

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