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Added arm lower limit switch support #42

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Added arm lower limit switch support #42

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12 changes: 12 additions & 0 deletions src/main/java/frc/robot/config/game/reefscape2025/RobotConfigComp.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,12 @@
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.LEDPattern;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.commands.common.arm.ArmToPosition;
import frc.robot.commands.common.elevator.ElevatorToPosition;
import frc.robot.io.implementations.motor.MotorIOBase.MotorIOBaseSettings;
Expand All @@ -39,6 +42,7 @@
public class RobotConfigComp extends RobotConfig {
private final AddressableLED led;
private final AddressableLEDBuffer ledBuffer;
private final DigitalInput armLowerLimit = new DigitalInput(0); // Normally Open (False)

public RobotConfigComp() {
super(false, false, false, false, false, true, false);
Expand Down Expand Up @@ -237,6 +241,14 @@ public RobotConfigComp() {
led.start();
}

// Auto Zero Arm Using Limit Switch
Trigger armLowerLimitTrigger = new Trigger(() -> armLowerLimit.get());
armLowerLimitTrigger.onTrue(
new InstantCommand(
() ->
coralArm.resetEncoder(
Units.degreesToRadians(coralArm.getSettings().minAngleInDegrees))));

// Auto(s)
NamedCommands.registerCommand(
"Move Elevator to 0.5 meter", new ElevatorToPosition(elevator, () -> 0.5));
Expand Down