updated deprecated class

src/main/java/frc4388/robot/Constants.java

@@ -114,8 +114,6 @@ public final class Constants {
   public static final class HooksConstants {
     public static final int LEFT_HOOK_ID = -1;
     public static final int RIGHT_HOOK_ID = -1;
-    public static final int LEFT_LIMIT_ID = -1;
-    public static final int RIGHT_LIMIT_ID = -1;
 
     public static final double OPEN_POSITION = 0;
     public static final double CLOSE_POSITION = 0;

src/main/java/frc4388/robot/RobotContainer.java

@@ -45,7 +45,7 @@ public class RobotContainer {
 
   private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
 
-  private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook, m_robotMap.leftHookLimit, m_robotMap.rightHookLimit);
+  private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
 
   /* Controllers */
   private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);

src/main/java/frc4388/robot/RobotMap.java

@@ -109,7 +109,4 @@ public class RobotMap {
   /* Hooks Subsystem */
   public final CANSparkMax leftHook = new CANSparkMax(HooksConstants.LEFT_HOOK_ID, MotorType.kBrushless);
   public final CANSparkMax rightHook = new CANSparkMax(HooksConstants.RIGHT_HOOK_ID, MotorType.kBrushless);
-
-  public final DigitalInput leftHookLimit = new DigitalInput(HooksConstants.LEFT_LIMIT_ID);
-  public final DigitalInput rightHookLimit = new DigitalInput(HooksConstants.RIGHT_LIMIT_ID);
 }

src/main/java/frc4388/robot/subsystems/Hooks.java

@@ -2,6 +2,7 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMaxLimitSwitch;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -11,20 +12,22 @@ public class Hooks extends SubsystemBase {
   private CANSparkMax m_leftHook;
   private CANSparkMax m_rightHook;
 
-  private DigitalInput m_leftLimitSwitch;
-  private DigitalInput m_rightLimitSwitch;
+  private SparkMaxLimitSwitch m_leftLimitSwitch;
+  private SparkMaxLimitSwitch m_rightLimitSwitch;
 
   private double m_leftOffset;
   private double m_rightOffset;
 
   private boolean m_open;
 
-  public Hooks(CANSparkMax leftHook, CANSparkMax rightHook, DigitalInput leftLimitSwitch, DigitalInput rightLimitSwitch) {
+  public Hooks(CANSparkMax leftHook, CANSparkMax rightHook) {
     m_leftHook = leftHook;
     m_rightHook = rightHook;
 
-    m_leftLimitSwitch = leftLimitSwitch;
-    m_rightLimitSwitch = rightLimitSwitch;
+    m_leftLimitSwitch = m_leftHook.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_rightLimitSwitch = m_rightHook.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_leftLimitSwitch.enableLimitSwitch(true);
+    m_rightLimitSwitch.enableLimitSwitch(true);
 
     m_open = false;
 
@@ -50,10 +53,10 @@ public class Hooks extends SubsystemBase {
 
   @Override
   public void periodic() {
-    if(m_leftLimitSwitch.get())
+    if(m_leftLimitSwitch.isPressed())
       m_leftOffset = m_leftHook.getEncoder().getPosition();
     
-    if(m_rightLimitSwitch.get())
+    if(m_rightLimitSwitch.isPressed())
       m_rightOffset = m_rightHook.getEncoder().getPosition();
   }
 }