From 0d42142e3c15b93deed1d5ef8832b0c4eccec1bb Mon Sep 17 00:00:00 2001 From: Lauren Meier Date: Mon, 16 Nov 2015 20:22:54 -0800 Subject: [PATCH] add three more limit switches due to change in strategy --- src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java | 2 +- src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java b/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java index 40c09b6..9b6d60d 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java @@ -23,7 +23,7 @@ public class RobotMap { public static final int ARM_LEFT = 2, ARM_RIGHT = 7; public static final double ARM_HIGH_SPEED = 0.5, ARM_LOW_SPEED = 0.5; - public static final int ARM_LIMIT_RIGHT = 0; + public static final int ARM_LIMIT_1 = 0, ARM_LIMIT_2 = 1, ARM_LIMIT_3 = 2, ARM_LIMIT_4 = 3; // Claw public static final int SOLENOID_FORWARD = 0, SOLENOID_REVERSE = 1, diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java index ff97040..cb0cc38 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java @@ -8,12 +8,15 @@ import edu.wpi.first.wpilibj.command.Subsystem; public class Arm extends Subsystem { private CANJaguar left, right; - private DigitalInput limitSwitch; + private DigitalInput limit1, limit2, limit3, limit4; public Arm() { left = new CANJaguar(RobotMap.ARM_LEFT); right = new CANJaguar(RobotMap.ARM_RIGHT); - limitSwitch = new DigitalInput(RobotMap.ARM_LIMIT_RIGHT); + limit1 = new DigitalInput(RobotMap.ARM_LIMIT_1); + limit2 = new DigitalInput(RobotMap.ARM_LIMIT_2); + limit3 = new DigitalInput(RobotMap.ARM_LIMIT_3); + limit4 = new DigitalInput(RobotMap.ARM_LIMIT_4); } public void initDefaultCommand() { -- 2.30.2