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Added limit switches

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and auto open
This commit is contained in:
66945
2022-01-28 16:27:11 -07:00
parent e9fc3354d8
commit f9a12a3b7a
1 changed files with 20 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/Hooks.java
+20 -4
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@@ -1,5 +1,6 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -9,16 +10,23 @@ public class Hooks extends SubsystemBase {
private CANSparkMax m_leftHook;
private CANSparkMax m_rightHook;
double m_leftOffset;
double m_rightOffset;
private LimitSwitchNormal m_limitSwitch;
private double m_leftOffset;
private double m_rightOffset;
private boolean m_open;
public Hooks(CANSparkMax leftHook, CANSparkMax rightHook) {
public Hooks(CANSparkMax leftHook, CANSparkMax rightHook, LimitSwitchNormal limitSwitch) {
m_leftHook = leftHook;
m_rightHook = rightHook;
setOpen(false);
m_limitSwitch = limitSwitch;
m_open = false;
m_leftHook.set(.1);
m_rightHook.set(.1);
}
public void setOpen(boolean open) {
@@ -36,4 +44,12 @@ public class Hooks extends SubsystemBase {
public boolean getOpen() {
return m_open;
}
@Override
public void periodic() {
if(m_limitSwitch.compareTo(LimitSwitchNormal.NormallyClosed) == 1) {
m_leftOffset = m_leftHook.getEncoder().getPosition();
m_leftOffset = m_leftHook.getEncoder().getPosition();
}
}
}