Make code for limit switch when hit will stop the arm

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / subsystems / Arm.java

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
index 8d78c8f48e9e8ccac467c6617c1cc3368cb38eba..50322e52d091cf061077d82eb31cbae2d57d85d0 100644 (file)
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
@@ -3,11 +3,16 @@ package org.usfirst.frc3501.RiceCatRobot.subsystems;
 import org.usfirst.frc3501.RiceCatRobot.RobotMap;
 
 import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Arm extends Subsystem {
   private CANJaguar left, right;
 
+  DigitalInput limitSwitch = new DigitalInput(1);
+  Counter counter = new Counter(limitSwitch);
+  
   public Arm() {
     left = new CANJaguar(RobotMap.ARM_LEFT);
     right = new CANJaguar(RobotMap.ARM_RIGHT);
@@ -15,6 +20,14 @@ public class Arm extends Subsystem {
 
   public void initDefaultCommand() {
   }
+  
+  public boolean isSwitchHit() {
+      return counter.get() > 0;
+  }
+  
+  public void initializeCounter() {
+      counter.reset();
+  }
 
   public void fineTuneControl(double d) {
     if (Math.abs(d) < 0.05) {