Use new Akit'ed limit switches

Team488 · Feb 16, 2024 · 8de948e · 8de948e
1 parent a87c674
commit 8de948e
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/SeriouslyCommonLib b/SeriouslyCommonLib
diff --git a/src/main/java/competition/subsystems/arm/ArmSubsystem.java b/src/main/java/competition/subsystems/arm/ArmSubsystem.java
@@ -131,6 +131,9 @@ public ArmSubsystem(PropertyFactory pf, XCANSparkMax.XCANSparkMaxFactory sparkMa
                     this.getPrefix() + "ArmEncoder",
                     contract.getArmEncoderInverted());
 
+            armMotorLeft.setSmartCurrentLimit(20);
+            armMotorRight.setSmartCurrentLimit(20);
+
             // Enable hardware limits
             armMotorLeft.setForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen, true);
             armMotorLeft.setReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen, true);
@@ -274,8 +277,8 @@ public LimitState getLimitState(XCANSparkMax motor) {
         boolean lowerHit = false;
 
         if (contract.isArmReady()) {
-            upperHit = motor.getForwardLimitSwitchPressed(SparkLimitSwitch.Type.kNormallyOpen);
-            lowerHit = motor.getReverseLimitSwitchPressed(SparkLimitSwitch.Type.kNormallyOpen);
+            upperHit = motor.getForwardLimitSwitchPressed();
+            lowerHit = motor.getReverseLimitSwitchPressed();
         }
 
         if (upperHit && lowerHit) {