Team4388/2026KPopRobotHunters
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limit switch through robot map

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SHikhar
2026-02-14 15:57:33 -07:00
parent 7f251857dc
commit f88619a1da
7 changed files with 26 additions and 20 deletions
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src/main/java/frc4388/robot/RobotMap.java
+3 -2
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@@ -12,6 +12,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.SimConstants;
@@ -91,7 +92,7 @@ public class RobotMap {
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
@@ -100,7 +101,7 @@ public class RobotMap {
// shooterIO = new ShooterIO() {};
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(arm, roller);
intakeIO = new IntakeReal(armLimitSwitch, arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");