fix(arm): Flip state of limit switch.

Gongoliers · Mar 1, 2024 · ec741ba · ec741ba
1 parent 3a9b578
commit ec741ba
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Showing 4 changed files with 12 additions and 10 deletions.
diff --git a/src/main/java/frc/lib/Configurator.java b/src/main/java/frc/lib/Configurator.java
@@ -101,12 +101,12 @@ public static void configureREV(Supplier<REVLibError> config) {
    * @param sparkMax
    */
   public static void configureStatusFrames(CANSparkMax sparkMax) {
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus0, 25));
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus1, 50));
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus2, 50));
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus3, 65535));
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus4, 65535));
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 65535));
-    Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus6, 65535));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus0, 25));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus1, 50));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus2, 50));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus3, 65535));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus4, 65535));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 65535));
+    // Configurator.configureREV(() -> sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus6, 65535));
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.lib.Telemetry;
 import frc.robot.arm.Arm;
 import frc.robot.auto.Auto;
 import frc.robot.intake.Intake;
@@ -55,6 +56,7 @@ public static RobotContainer getInstance() {
   /** Initializes subsystem telemetry. */
   private void initializeTelemetry() {
     if (RobotConstants.USE_TELEMETRY) {
+      Telemetry.initializeShuffleboards(arm);
       SmartDashboard.putData("Arm Mechanism", RobotMechanisms.getInstance().getMechanism());
     }
 

diff --git a/src/main/java/frc/robot/arm/ArmFactory.java b/src/main/java/frc/robot/arm/ArmFactory.java
@@ -20,8 +20,8 @@ public static LimitSwitchIO createLimitSwitch() {
    * @return a shoulder motor.
    */
   public static ShoulderMotorIO createShoulderMotor() {
-    // if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.ARM))
-    //   return new ShoulderMotorIOSparkMax();
+    if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.ARM))
+      return new ShoulderMotorIOSparkMax();
 
     return new ShoulderMotorIOSim();
   }

diff --git a/src/main/java/frc/robot/arm/LimitSwitchIODigital.java b/src/main/java/frc/robot/arm/LimitSwitchIODigital.java
@@ -15,6 +15,6 @@ public void configure() {}
 
   @Override
   public void update(LimitSwitchIOValues values) {
-    values.isPressed = digitalInput.get();
+    values.isPressed = !digitalInput.get();
   }
 }