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Merge pull request #47 from Team4388/CAN-and-Limits

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CAN IDs and Limit Switches
This commit is contained in:
aarav18
2020-03-01 13:15:13 -07:00
committed by GitHub
parent 110bee64e4 89bc6d58de
commit f836dfe472
3 changed files with 10 additions and 10 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -144,11 +144,11 @@ public final class Constants {
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = -10;
public static final int CLIMBER_SPARK_ID = 14;
}
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = -1;
public static final int LEVELER_CAN_ID = 15;
}
public static final class StorageConstants {
@@ -157,7 +157,7 @@ public final class Constants {
public static final double STORAGE_FULL_BALL = 7;
public static final double STORAGE_SPEED = 0.5;
public static final double STORAGE_TIMEOUT = 2000;
/* Ball Indexes */
public static final int BEAM_SENSOR_DIO_0 = 0;
public static final int BEAM_SENSOR_DIO_1 = 1;
src/main/java/frc4388/robot/subsystems/Climber.java
+4 -4
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@@ -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
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@@ -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