Team_2648/2025_Robot_Code
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changed climber limit switch

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This commit is contained in:
NoahLacks63 2025-01-07 22:40:24 +00:00
parent 3f3cb14529
commit 8ac67fcf21
5 changed files with 12 additions and 27 deletions
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3
src/main/java/frc/robot/constants/ClimberPivotConstants.java
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@ -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;

5
src/main/java/frc/robot/constants/ManipulatorConstants.java
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@ -1,5 +0,0 @@
package frc.robot.constants;
public class ManipulatorConstants {
}

5
src/main/java/frc/robot/constants/SensorsConstants.java
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@ -1,5 +0,0 @@
package frc.robot.constants;
public class SensorsConstants {
public static final int kClimberLimitSwitchID = 0;
}

9
src/main/java/frc/robot/subsystems/ClimberPivot.java
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@ -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();
}
}

17
src/main/java/frc/robot/subsystems/Sensors.java
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@ -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();
}
}