limit switch through robot map

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

@@ -16,15 +16,12 @@ public class Intake extends SubsystemBase {
     IntakeStateAutoLogged state = new IntakeStateAutoLogged();
 
     Supplier<Pose2d> m_swervePoseSupplier;
-    public DigitalInput m_armLimitSwitch;
 
     public Intake(
-        IntakeIO io,
-        DigitalInput m_armLimitSwitch
+        IntakeIO io
         // Supplier<Pose2d> swervePoseSupplier
     ) {
         this.io = io;
-        this.m_armLimitSwitch= m_armLimitSwitch;
         // this.m_swervePoseSupplier = swervePoseSupplier;
     }
 
@@ -76,8 +73,7 @@ public class Intake extends SubsystemBase {
                 io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracted:
-                if (!m_armLimitSwitch.get()){
-                    System.out.println("Triggered!");
+                if (!state.retractedLimit){
                     io.stopArm();
                 } else {
                     io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
@@ -88,7 +84,11 @@ public class Intake extends SubsystemBase {
                 io.armExtend(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 break;
             case Retracting:
-                io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
+                if (!state.retractedLimit){
+                    io.stopArm();
+                } else {
+                    io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
+                }
                 break;
         }
 

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

@@ -21,6 +21,7 @@ public class IntakeConstants {
 
     public static final CanDevice ARM_ID   = new CanDevice("ARM", 20);
     public static final CanDevice ROLLER_ID   = new CanDevice("INTAKE_ROLLER", 21);
+    public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
         
     // Limits
 

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

@@ -13,6 +13,7 @@ import edu.wpi.first.units.measure.Current;
 public interface IntakeIO {
     @AutoLog
     public class IntakeState {
+        boolean retractedLimit = false;
         Angle armAngle = Rotations.of(0);
         Angle armTargetAngle = Rotations.of(0);
         Current armMotorCurrent = Amps.of(0);

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

@@ -5,18 +5,20 @@ import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.units.measure.*;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
 
 public class IntakeReal implements IntakeIO {
 
-
     TalonFX m_armMotor;
     TalonFX m_rollerMotor;
+    DigitalInput m_armLimitSwitch;
 
     PositionDutyCycle armPosition = new PositionDutyCycle(0);
     VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
 
     public IntakeReal(
-
+        DigitalInput armLimitSwitch,
         TalonFX armMotor,
         TalonFX rollerMotor
     ) {
@@ -24,6 +26,7 @@ public class IntakeReal implements IntakeIO {
         // m_pitchMotor = pitchMotor;
         m_armMotor = armMotor;
         m_rollerMotor = rollerMotor;
+        m_armLimitSwitch = armLimitSwitch;
 
         // Apply the configs
         m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
@@ -96,7 +99,7 @@ public class IntakeReal implements IntakeIO {
     public void updateInputs(IntakeState state) {
         state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
         state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
-
+        state.retractedLimit = m_armLimitSwitch.get();
         state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
         state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
     }