Limit Switch

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

@@ -13,6 +13,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.RobotBase;
@@ -34,6 +35,7 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.intake.Intake;
 import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 import frc4388.robot.subsystems.shooter.Shooter;
+import frc4388.robot.subsystems.shooter.Shooter.ShooterMode;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.DeferredBlock;
@@ -56,18 +58,23 @@ public class RobotContainer {
     
     public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
     
+    /*Limit Switch */
+    public final DigitalInput m_armLimitSwitch = new DigitalInput(9);
+
     /* Subsystems */
     public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
     //Testing of Colors
     public final Vision m_vision = new Vision();
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
-    public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
+    public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO, m_armLimitSwitch);
     public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
     
 
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
+
+
     // private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTONBOX_ID);
 
     // public List<Subsystem> subsystems = new ArrayList<>();
@@ -146,8 +153,8 @@ public class RobotContainer {
     private void configureButtonBindings() {
         
 
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
+        new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
 
             
         // new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
@@ -209,25 +216,25 @@ public class RobotContainer {
             .onFalse(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Retracted);
                 m_robotSwerveDrive.softStop();
-            }, m_robotSwerveDrive));
+            }));
 
         // IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
         new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
             .whileTrue(new RunCommand(
                 () -> {
-                m_robotSwerveDrive.driveFacingPosition(
+                // m_robotSwerveDrive.driveFacingPosition(
-                    getDeadbandedDriverController().getLeft(),
+                //     getDeadbandedDriverController().getLeft(),
-                    FieldPositions.HUB_POSITION);
+                //     FieldPositions.HUB_POSITION);
                 }, m_robotSwerveDrive)
             )
             .onTrue(new InstantCommand(() -> {
                 // When Right trigger is pressed, 
-                m_robotIntake.setMode(IntakeMode.Extended);
+                m_robotShooter.setShooterReady();
             }))
             .onFalse(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Retracted);
-                m_robotSwerveDrive.softStop();
+                m_robotShooter.setShooterNotReady();
-            }, m_robotSwerveDrive));
+            }));
 
 
         // D-PAD fine alignment

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -5,15 +5,15 @@ package frc4388.robot.constants;
  */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
+  public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 40;
+  public static final int GIT_REVISION = 49;
-  public static final String GIT_SHA = "983b95fdc704ef35b6f5e2dada2c6348f3c67190";
+  public static final String GIT_SHA = "0425cdd0a1e794109348c7369dc21b377fca569b";
-  public static final String GIT_DATE = "2026-02-10 19:42:47 MST";
+  public static final String GIT_DATE = "2026-02-12 14:36:26 MST";
   public static final String GIT_BRANCH = "shoot-button";
-  public static final String BUILD_DATE = "2026-02-11 12:41:33 MST";
+  public static final String BUILD_DATE = "2026-02-14 11:48:31 MST";
-  public static final long BUILD_UNIX_TIME = 1770838893524L;
+  public static final long BUILD_UNIX_TIME = 1771094911048L;
-  public static final int DIRTY = 0;
+  public static final int DIRTY = 1;
 
   private BuildConstants(){}
 }

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -7,19 +7,24 @@ import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 
 public class Intake extends SubsystemBase {
     public IntakeIO io;
     IntakeStateAutoLogged state = new IntakeStateAutoLogged();
 
     Supplier<Pose2d> m_swervePoseSupplier;
+    public DigitalInput m_armLimitSwitch;
 
     public Intake(
-        IntakeIO io
+        IntakeIO io,
+        DigitalInput m_armLimitSwitch
         // Supplier<Pose2d> swervePoseSupplier
     ) {
         this.io = io;
+        this.m_armLimitSwitch= m_armLimitSwitch;
         // this.m_swervePoseSupplier = swervePoseSupplier;
     }
 
@@ -56,6 +61,7 @@ public class Intake extends SubsystemBase {
     @Override
     public void periodic() {
         // FaultReporter.register(this); // TODO Implement fault reporter
+        // System.out.println(m_armLimitSwitch.get());
 
 
         Logger.processInputs("Intake", state);
@@ -68,7 +74,12 @@ public class Intake extends SubsystemBase {
                 io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracted:
-                io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
+                if (!m_armLimitSwitch.get()){
+                    System.out.println("Triggered!");
+                    io.stopArm();
+                } else {
+                    io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
+                }
                 io.setRollerVelocity(state, RotationsPerSecond.of(0));
                 break;
         }

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -12,7 +12,7 @@ import frc4388.utility.status.CanDevice;
 public class IntakeConstants {
     // Motor conversions
 
-    public static final double ARM_MOTOR_GEAR_RATIO = 100;
+    public static final double ARM_MOTOR_GEAR_RATIO = 125;
     public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
 
 
@@ -68,7 +68,7 @@ public class IntakeConstants {
     public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
         .withCurrentLimits(
             new CurrentLimitsConfigs()
-                .withStatorCurrentLimit(40) // TODO: tune???
+                .withStatorCurrentLimit(15) // TODO: tune???
                 .withStatorCurrentLimitEnable(true)
             ).withMotorOutput(
                 new MotorOutputConfigs()

src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java

@@ -33,6 +33,7 @@ public interface IntakeIO {
     // public default void setShooterAngle(ShooterState state, Angle angle) {}
     // public default void setShooterPitch(ShooterState state, Angle angle) {}
     public default void setArmAngle(IntakeState state, Angle angle) {}
+    public default void stopArm() {}
     public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
 
     public default void updateInputs(IntakeState state) {}

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -78,6 +78,10 @@ public class IntakeReal implements IntakeIO {
         // PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
         m_armMotor.setControl(armPosition.withPosition(motorAngle));
     }
+    @Override
+    public void stopArm(){
+        m_armMotor.set(0);
+    }
 
     @Override
     public void updateInputs(IntakeState state) {

src/main/java/frc4388/robot/subsystems/shooter/Shooter.java

@@ -97,54 +97,54 @@ public class Shooter extends SubsystemBase {
 
             // TODO: get if the robot is within the angle of the hub
 
-            boolean driverError = 
+        //     boolean driverError = 
-                XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
+        //         XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
-                AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
+        //         AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
-                distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() | 
+        //         distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() | 
-                distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
+        //         distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
 
-            double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
+        //     double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
 
-            boolean badShooterVelocity = shooterSpeed < ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
+        //     boolean badShooterVelocity = shooterSpeed < ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
-            boolean intakeBad = m_Intake.getMode() == IntakeMode.Extended;
+        //     boolean intakeBad = m_Intake.getMode() == IntakeMode.Extended;
 
             
-            int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (intakeBad ? 4 : 0);
+        //     int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (intakeBad ? 4 : 0);
-            switch (bitmask) {
+        //     switch (bitmask) {
-                case 0b000: // No Errors
+        //         case 0b000: // No Errors
-                    m_robotLED.setMode(Constants.LEDConstants.OPREADY);
+        //             m_robotLED.setMode(Constants.LEDConstants.OPREADY);
-                    break;
+        //             break;
-                case 0b001: // No op err, yes driver err
+        //         case 0b001: // No op err, yes driver err
-                    m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
+        //             m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
-                    break;
+        //             break;
-                case 0b010: // Bad flywheel, no driver err
+        //         case 0b010: // Bad flywheel, no driver err
-                    m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
+        //             m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
-                    break;
+        //             break;
-                case 0b011: // Bad flywheel, yes driver err
+        //         case 0b011: // Bad flywheel, yes driver err
-                    m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
+        //             m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
-                    break;
+        //             break;
-                case 0b100: // Bad intake, no driver err
+        //         case 0b100: // Bad intake, no driver err
-                    m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
+        //             m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
-                    break;
+        //             break;
-                case 0b101: // Bad intake, yes driver err
+        //         case 0b101: // Bad intake, yes driver err
-                    m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
+        //             m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
-                    break;
+        //             break;
-                case 0b110: // Bad intake and shooter (intake is more important), no driver err
+        //         case 0b110: // Bad intake and shooter (intake is more important), no driver err
-                    m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
+        //             m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
-                    break;
+        //             break;
-                case 0b111: // Bad intake and shooter (intake is more important), yes driver err
+        //         case 0b111: // Bad intake and shooter (intake is more important), yes driver err
-                    m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
+        //             m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
-                    break;
+        //             break;
-            }
+        //     }
 
-            // We set the shooter mode to ready if there are no errors
+        //     // We set the shooter mode to ready if there are no errors
-            mode = (
+        //     mode = (
-                bitmask == 0 ?
+        //         bitmask == 0 ?
-                ShooterMode.Ready :
+        //         ShooterMode.Ready :
-                ShooterMode.NotReady
+        //         ShooterMode.NotReady
-            );
+        //     );
 
-        }
+        // }
 
         switch (mode) {
             case Shooting:
@@ -162,4 +162,4 @@ public class Shooter extends SubsystemBase {
         }
 
     }
-}
+    }}

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -24,8 +24,8 @@ public class    ShooterConstants {
     // public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(10);
     // public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
 
-    public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 30);
+    public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 0);
-    public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15);
+    public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0);
     
     public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", 10);
     public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10);