From 8ac67fcf21602dc9270a554922e253b77257c6c7 Mon Sep 17 00:00:00 2001
From: NoahLacks63 <apexdeadlyranger@gmail.com>
Date: Tue, 7 Jan 2025 22:40:24 +0000
Subject: [PATCH] changed climber limit switch

---
 .../robot/constants/ClimberPivotConstants.java  |  3 +++
 .../robot/constants/ManipulatorConstants.java   |  5 -----
 .../frc/robot/constants/SensorsConstants.java   |  5 -----
 .../java/frc/robot/subsystems/ClimberPivot.java |  9 +++++++++
 src/main/java/frc/robot/subsystems/Sensors.java | 17 -----------------
 5 files changed, 12 insertions(+), 27 deletions(-)
 delete mode 100644 src/main/java/frc/robot/constants/ManipulatorConstants.java
 delete mode 100644 src/main/java/frc/robot/constants/SensorsConstants.java
 delete mode 100644 src/main/java/frc/robot/subsystems/Sensors.java

diff --git a/src/main/java/frc/robot/constants/ClimberPivotConstants.java b/src/main/java/frc/robot/constants/ClimberPivotConstants.java
index d8733d5..557d574 100644
--- a/src/main/java/frc/robot/constants/ClimberPivotConstants.java
+++ b/src/main/java/frc/robot/constants/ClimberPivotConstants.java
@@ -2,6 +2,9 @@ package frc.robot.constants;
 
 public class ClimberPivotConstants {
     public static final int kPivotMotorID = 0;
+
+    public static final int kClimberLimitSwitchID = 0;
+
     public static final double kPIDControllerP = 0;
     public static final double kPIDControllerI = 0;
     public static final double kPIDControllerD = 0;
diff --git a/src/main/java/frc/robot/constants/ManipulatorConstants.java b/src/main/java/frc/robot/constants/ManipulatorConstants.java
deleted file mode 100644
index 79be5b0..0000000
--- a/src/main/java/frc/robot/constants/ManipulatorConstants.java
+++ /dev/null
@@ -1,5 +0,0 @@
-package frc.robot.constants;
-
-public class ManipulatorConstants {
-    
-}
diff --git a/src/main/java/frc/robot/constants/SensorsConstants.java b/src/main/java/frc/robot/constants/SensorsConstants.java
deleted file mode 100644
index d2da857..0000000
--- a/src/main/java/frc/robot/constants/SensorsConstants.java
+++ /dev/null
@@ -1,5 +0,0 @@
-package frc.robot.constants;
-
-public class SensorsConstants {
-    public static final int kClimberLimitSwitchID = 0;
-}
diff --git a/src/main/java/frc/robot/subsystems/ClimberPivot.java b/src/main/java/frc/robot/subsystems/ClimberPivot.java
index 123457a..fa6a39e 100644
--- a/src/main/java/frc/robot/subsystems/ClimberPivot.java
+++ b/src/main/java/frc/robot/subsystems/ClimberPivot.java
@@ -5,6 +5,7 @@ import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ClimberPivotConstants;
@@ -14,6 +15,8 @@ public class ClimberPivot extends SubsystemBase {
 
     private AbsoluteEncoder neoEncoder;
 
+    private DigitalInput cageLimitSwitch;
+
     private PIDController pidController;
 
     public ClimberPivot() {
@@ -25,6 +28,8 @@ public class ClimberPivot extends SubsystemBase {
 
         neoEncoder = pivotMotor.getAbsoluteEncoder();
 
+        cageLimitSwitch = new DigitalInput(0);
+
         pidController = new PIDController(
             ClimberPivotConstants.kPIDControllerP,
             ClimberPivotConstants.kPIDControllerI, 
@@ -48,4 +53,8 @@ public class ClimberPivot extends SubsystemBase {
             );
         });
     }
+
+    public boolean getCageLimitSwitch() {
+        return cageLimitSwitch.get();
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Sensors.java b/src/main/java/frc/robot/subsystems/Sensors.java
deleted file mode 100644
index 9128054..0000000
--- a/src/main/java/frc/robot/subsystems/Sensors.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package frc.robot.subsystems;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.SensorsConstants;
-
-public class Sensors extends SubsystemBase {
-    private DigitalInput climberLimitSwitch;
-    
-    public Sensors() {
-        climberLimitSwitch = new DigitalInput(SensorsConstants.kClimberLimitSwitchID);
-    }
-
-    public boolean getClimberLimitSwitch() {
-        return climberLimitSwitch.get();
-    }
-}