Team4388/RiseOfRidgebotics2020
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Add Limit Switches

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Note: Shooter turret and hood limits are set up on the add-shooter branch. Those are more specific and much better tuned.
These currently have no soft limits, and are untested
This commit is contained in:
ryan123rudder
2020-03-01 12:21:03 -07:00
parent 2aed3ffa1d
commit 7adb1edb0c
2 changed files with 7 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+4 -4
View File
@@ -31,10 +31,10 @@ public class Climber extends SubsystemBase {
m_climberMotor.setIdleMode(IdleMode.kBrake);
m_climberMotor.setInverted(false);
m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_climberForwardLimit.enableLimitSwitch(false);
m_climberReverseLimit.enableLimitSwitch(false);
m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_climberForwardLimit.enableLimitSwitch(true);
m_climberReverseLimit.enableLimitSwitch(true);
}
@Override
src/main/java/frc4388/robot/subsystems/Intake.java
+3 -3
View File
@@ -41,9 +41,9 @@ public class Intake extends SubsystemBase {
m_extenderMotor.setInverted(false);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderForwardLimit.enableLimitSwitch(false);
m_extenderReverseLimit.enableLimitSwitch(false);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderForwardLimit.enableLimitSwitch(true);
m_extenderReverseLimit.enableLimitSwitch(true);
}
@Override