Merge pull request #94 from kirbt/testing

limit switch fix
robototes · Mar 19, 2024 · bbd79f4 · bbd79f4
2 parents 5adceb9 + 273a757
commit bbd79f4
Showing 1 changed file with 11 additions and 5 deletions.
diff --git a/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
@@ -101,14 +101,22 @@ public IntakeSubsystem() {
 		initShuffleboard();
 	}
 
-	private void configureMotor(CANSparkBase motor, int currentLimit, boolean invert) {
+	private void configureMotor(
+			CANSparkBase motor, int currentLimit, boolean invert, boolean enableLimitSwitch) {
 		motor.restoreFactoryDefaults();
 		motor.setIdleMode(IdleMode.kBrake);
 		motor.setSmartCurrentLimit(currentLimit);
 		motor.setInverted(invert);
+		motor
+				.getForwardLimitSwitch(com.revrobotics.SparkLimitSwitch.Type.kNormallyOpen)
+				.enableLimitSwitch(enableLimitSwitch);
 		motor.burnFlash();
 	}
 
+	private void configureMotor(CANSparkBase motor, int currentLimit, boolean invert) {
+		configureMotor(motor, currentLimit, invert, false);
+	}
+
 	private void configureMotor(CANSparkBase motor, boolean invert) {
 		configureMotor(motor, 20, invert);
 	}
@@ -122,10 +130,8 @@ private void resetMotors() {
 		configureMotor(ingestMotor, false);
 		configureMotor(indexMotorUpper, 40, false);
 
-		configureMotor(feederMotor, 40, false);
-		indexMotorUpper
-				.getForwardLimitSwitch(com.revrobotics.SparkLimitSwitch.Type.kNormallyOpen)
-				.enableLimitSwitch(false);
+		configureMotor(feederMotor, 40, true);
+
 		indexMotorUpper.burnFlash();
 	}