used digital Inputs so that the rio can connect to the limit switches…

…. This is all bad so I put it on a new branch as to not interfere with anything. If this does manage to work at all it will still need fixes. I'm sorry in advance

rio/subsystems/drivetrain.py

@@ -320,6 +320,12 @@ def __init__(self, constants, pid):
         self.steer_motor_encoder.setPosition(0)
 
         # Zeroing objects
+
+        self.forePortLimitSwitch = wpilib.digitalInput(1)
+        self.foreStarLimitSwitch = wpilib.digitalInput(2)
+        self.aftPortLimitSwitch = wpilib.digitalInput(3)
+        self.aftStarLimitSwitch = wpilib.digitalInput(4)
+
         self.isZeroed = False
         self.zeroSwitch = self.steer_motor.getForwardLimitSwitch(
             SparkMaxLimitSwitch.Type.kNormallyClosed
@@ -415,7 +421,12 @@ def find_zero(self):
         """
 
         if not self.isZeroed:
-            if not self.zeroSwitch.get():
+            if (
+                not self.forePortLimitSwitch.get()
+                and not self.foreStarLimitSwitch.get()
+                and not self.aftPortLimitSwitch.get()
+                and not self.aftStarLimitSwitch.get()
+            ):
                 self.steer_motor.set(0.165)  # CHANGEME
             else:
                 self.steer_motor_encoder.setPosition(0)