Merge pull request #16 from 2491-NoMythic/hall-effects

autoclimbing code and hall effects sensors
2491-NoMythic · Jan 24, 2024 · 9406542 · 9406542
2 parents 33313d9 + 36cd021
commit 9406542
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/commands/climber_commands/ClimberPullDown.java b/src/main/java/frc/robot/commands/climber_commands/ClimberPullDown.java
@@ -37,6 +37,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_climber.getRightRPM() < ClimberConstants.CLIMBER_RPM && m_climber.getLeftRPM() < ClimberConstants.CLIMBER_RPM;
+    return m_climber.isClimberIn();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
@@ -4,11 +4,14 @@
 
 package frc.robot.subsystems;
 
+import com.revrobotics.CANSparkBase;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkLimitSwitch;
 import com.revrobotics.SparkPIDController;
  import com.revrobotics.SparkRelativeEncoder;
- import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkBase.ControlType;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
@@ -22,12 +25,16 @@ public class Climber extends SubsystemBase {
   RelativeEncoder climbEncoderL;
   double speed;
   double voltage;
+  SparkLimitSwitch limitSwitchR;
+  SparkLimitSwitch limitSwitchL;
   /** Creates a new Climber. */
   public Climber() {
     climbMotorR = new CANSparkMax(ClimberConstants.CLIMBER_MOTOR_RIGHT, MotorType.kBrushless);
     climbMotorL = new CANSparkMax(ClimberConstants.CLIMBER_MOTOR_LEFT, MotorType.kBrushless);
     climbEncoderR = climbMotorR.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 4098);
     climbEncoderL = climbMotorL.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 4098);
+    limitSwitchR = climbMotorR.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyClosed);
+    limitSwitchL = climbMotorL.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyClosed);
     climbMotorL.setIdleMode(IdleMode.kBrake);
     climbMotorR.setIdleMode(IdleMode.kBrake);
   }
@@ -54,4 +61,8 @@ public double getLeftRPM(){
   return climbEncoderL.getVelocity();
  }
 
+ public boolean isClimberIn(){
+  return limitSwitchR.isPressed() && limitSwitchL.isPressed();
+}
+
 }