From: Kevin Zhang <kevin.zhang.13499@gmail.com>
Date: Tue, 17 Nov 2015 05:23:29 +0000 (-0800)
Subject: make naive method for updating currentLevel/ check values of limit switches
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=refs%2Fheads%2FCindy%2FLimit-Switches;p=3501%2F2015-FRC-Spark

make naive method for updating currentLevel/ check values of limit switches
---

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
index 3a69eea..e584153 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
@@ -10,9 +10,10 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Arm extends Subsystem {
   private CANJaguar left, right;
-  ArrayList<DigitalInput> limitSwitches;
+  private ArrayList<DigitalInput> limitSwitches;
   //channel index numbers correspond to limit switches
-  int[] channels;
+  private int[] channels;
+  private int currentLevel;
   private final int NUM_OF_SWITCHES = 4;
 
   public Arm() {
@@ -68,6 +69,16 @@ public class Arm extends Subsystem {
     right.set(0);
   }
   
+  //should run in robot.java teleop periodic (autonomous periodic too maybe?)
+  public void updateLimitSwitches(){
+	  for(int i = 0; i < NUM_OF_SWITCHES; i ++){
+		  DigitalInput d = limitSwitches.get(i);
+		  if(d.get()){
+			  currentLevel = i;
+		  }
+	  }
+  }
+  
   public int getLevel(){
 	  //return last past switch 
 	  return 0;