Limit switch climber

components/climber.py

@@ -1,27 +1,49 @@
 from magicbot import tunable, will_reset_to
-from rev import SparkMax, SparkMaxConfig
+from rev import LimitSwitchConfig, SparkMax, SparkMaxConfig
 
 from ids import SparkId
 from utilities.rev import configure_spark_reset_and_persist
 
 
 class ClimberComponent:
-    setpoint = will_reset_to(0.0)
-    climb_speed = tunable(0.2)
+    MAX_FORWARD_EXTENSION, MAX_REVERSE_EXTENSION = 120, -120
+
+    current_climber_speed = will_reset_to(0.0)
+    forward_climber_speed, reverse_climber_speed = tunable(0.8), tunable(0.8)
 
     def __init__(self):
         # create motor with correct forward direction sparkmax controller
         self.motor = SparkMax(SparkId.CLIMBER, SparkMax.MotorType.kBrushless)
+        self.forward_limit_switch = self.motor.getForwardLimitSwitch()
+        self.reverse_limit_switch = self.motor.getReverseLimitSwitch()
+        self.encoder = self.motor.getEncoder()
+
         config = SparkMaxConfig()
+
         config.inverted(True)
         config.setIdleMode(SparkMaxConfig.IdleMode.kBrake)
+
+        config.limitSwitch.forwardLimitSwitchType(
+            LimitSwitchConfig.Type.kNormallyOpen
+        ).forwardLimitSwitchTriggerBehavior(
+            LimitSwitchConfig.Behavior.kStopMovingMotor
+        ).reverseLimitSwitchType(
+            LimitSwitchConfig.Type.kNormallyOpen
+        ).reverseLimitSwitchTriggerBehavior(LimitSwitchConfig.Behavior.kStopMovingMotor)
+
+        config.softLimit.forwardSoftLimit(
+            self.MAX_FORWARD_EXTENSION
+        ).forwardSoftLimitEnabled(True).reverseSoftLimit(
+            self.MAX_REVERSE_EXTENSION
+        ).reverseSoftLimitEnabled(True)
+
         configure_spark_reset_and_persist(self.motor, config)
 
     def deploy(self):
-        self.setpoint = -self.climb_speed
+        self.current_climber_speed = self.forward_climber_speed
 
-    def climb(self):
-        self.setpoint = self.climb_speed
+    def retract(self):
+        self.current_climber_speed = self.reverse_climber_speed
 
     def execute(self):
-        self.motor.set(self.setpoint)
+        self.motor.set(self.current_climber_speed)

robot.py

@@ -194,6 +194,7 @@ def testInit(self) -> None:
 
     def testPeriodic(self) -> None:
         allowed_to_drive = self.gamepad.getRightBumperButton()
+
         if allowed_to_drive:
             # Set max speed
             max_speed = self.lower_max_speed
@@ -216,11 +217,11 @@ def testPeriodic(self) -> None:
             self.shooter.shoot()
             self.intake.intake()
 
-        if self.gamepad.getAButton():
+        if self.gamepad.getAButtonPressed():
             self.climber.deploy()
 
-        if self.gamepad.getYButton():
-            self.climber.climb()
+        if self.gamepad.getBButtonPressed():
+            self.climber.retract()
 
         self.shooter.execute()
         self.climber.execute()