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limit switches and soft limit created

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This commit is contained in:
Abhi
2023-02-04 14:27:40 -07:00
parent 89d8096844
commit 5d37813c8b
1 changed files with 15 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+15 -1
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@@ -4,18 +4,30 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
public class Arm extends SubsystemBase { public class Arm extends SubsystemBase {
/** Creates a new Arm. */ /** Creates a new Arm. */
private WPI_TalonFX pivot; private WPI_TalonFX pivot;
private WPI_TalonFX tele; private WPI_TalonFX tele;
public Arm(WPI_TalonFX pivot, WPI_TalonFX tele) { public Arm(WPI_TalonFX pivot, WPI_TalonFX tele) {
this.pivot = pivot; this.pivot = pivot;
this.tele = tele; this.tele = tele;
//Limit switches
pivot.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
pivot.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
tele.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
tele.configForwardSoftLimitThreshold(Constants.ArmConstants.TELE_FORWARD_SOFT_LIMIT);
} }
public void runPivot(double output) { public void runPivot(double output) {
@@ -41,6 +53,8 @@ public class Arm extends SubsystemBase {
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run if (tele.isRevLimitSwitchClosed() == 1) {
tele.setSelectedSensorPosition(0);
}
} }
} }