From 2aed3ffa1d106419de91d2c759b983a76fd46975 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Sun, 1 Mar 2020 11:24:57 -0700
Subject: [PATCH 1/2] CAN ids maatch Robots

---
 src/main/java/frc4388/robot/Constants.java | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index dc283e4..f0782cb 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -110,9 +110,9 @@ public final class Constants {
   
     public static final class ShooterConstants {
         /* Motor IDs */
-        public static final int SHOOTER_FALCON_ID = -1;
-        public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
-        public static final int SHOOTER_ROTATE_ID = 10;
+        public static final int SHOOTER_FALCON_ID = 8;
+        public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
+        public static final int SHOOTER_ROTATE_ID = 9;
 
         /* PID Constants Shooter */
         public static final int SHOOTER_SLOT_IDX = 0;
@@ -127,15 +127,15 @@ 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 {
-        public static final int STORAGE_CAN_ID = -1;
+        public static final int STORAGE_CAN_ID = 11;
 
         /* Ball Indexes */
         public static final int BEAM_SENSOR_DIO_0 = 0;

From 7adb1edb0c323d686ae342ee27c2c075ece51a01 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Sun, 1 Mar 2020 12:21:03 -0700
Subject: [PATCH 2/2] Add Limit Switches

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
---
 src/main/java/frc4388/robot/subsystems/Climber.java | 8 ++++----
 src/main/java/frc4388/robot/subsystems/Intake.java  | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index f6c9339..e9adf86 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -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
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 6b716f4..f074b33 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -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