Added IR sensor and limitswitches for ampertest

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,11 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/SendableChooser[1]": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/com/stuypulse/robot/constants/Ports.java

@@ -17,10 +17,10 @@ public interface Climber {
         int LEFT_MOTOR = 60;
         int RIGHT_MOTOR = 61;
 
-        int TOP_RIGHT_LIMIT = 8;
-        int TOP_LEFT_LIMIT = 7;
-        int BOTTOM_RIGHT_LIMIT = 6;
-        int BOTTOM_LEFT_LIMIT = 5;        
+        int TOP_RIGHT_LIMIT = 9;
+        int TOP_LEFT_LIMIT = 8;
+        int BOTTOM_RIGHT_LIMIT = 7;
+        int BOTTOM_LEFT_LIMIT = 6;        
     }
 
     public interface Amper {
@@ -29,6 +29,7 @@ public interface Amper {
 
         int ALIGNED_BUMP_SWITCH = 3;
         int LIFT_BOTTOM_LIMIT = 4;
+        int LIFT_TOP_LIMIT = 5;
         int AMP_IR = 2;
     }
 

src/main/java/com/stuypulse/robot/subsystems/AmperTest.java

@@ -6,6 +6,7 @@
 import com.stuypulse.robot.constants.Ports;
 import com.stuypulse.robot.constants.Settings;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -16,7 +17,9 @@ public class AmperTest extends SubsystemBase {
     private final RelativeEncoder liftEncoder;
     private final RelativeEncoder scoreEncoder;
 
-
+    private final DigitalInput minSwitch;
+    private final DigitalInput maxSwitch;
+    private final DigitalInput ampIRSensor;
 
     public AmperTest(){
         scoreMotor = new CANSparkMax(Ports.Amper.SCORE, MotorType.kBrushless);
@@ -28,6 +31,10 @@ public AmperTest(){
 
         liftEncoder.setPositionConversionFactor(Settings.AmperTest.Lift.Encoder.POSITION_CONVERSION);
         liftEncoder.setVelocityConversionFactor(Settings.AmperTest.Lift.Encoder.VELOCITY_CONVERSION);
+
+        minSwitch = new DigitalInput(Ports.Amper.LIFT_BOTTOM_LIMIT);
+        maxSwitch = new DigitalInput(Ports.Amper.LIFT_TOP_LIMIT);
+        ampIRSensor = new DigitalInput(Ports.Amper.AMP_IR);
     }
 
     public void setAmperVoltage(double voltage){
@@ -46,12 +53,24 @@ public void stop(){
     public double getScorePosition() {
         return scoreEncoder.getPosition();
     }
+
     public double getLiftPosition() {
         return liftEncoder.getPosition();
     }
+
     public double getLiftVelocity() {
         return liftEncoder.getVelocity();
     }
+
+    public boolean liftAtBottom() {
+        return !minSwitch.get();
+    }
+
+    public boolean liftAtTop() {
+        return !maxSwitch.get();
+    }
+
+
     @Override
     public void periodic() {
         SmartDashboard.putNumber("Amper/Intake Speed", scoreMotor.get());
@@ -60,5 +79,8 @@ public void periodic() {
         SmartDashboard.putNumber("Amper/Lift Current", liftMotor.getOutputCurrent());
         SmartDashboard.putNumber("Amper/Lift Position", liftEncoder.getPosition());
         SmartDashboard.putNumber("Amper/Score Position", scoreEncoder.getPosition());
+        SmartDashboard.putBoolean("Amper/Lift at Bottom", liftAtBottom());
+        SmartDashboard.putBoolean("Amper/Lift at Top", liftAtTop());
+        SmartDashboard.putBoolean("Amper/IR has note", !ampIRSensor.get());
     }
 }

src/main/java/com/stuypulse/robot/subsystems/ClimberTest.java

@@ -3,6 +3,7 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.robot.constants.Motors;
 import com.stuypulse.robot.constants.Ports;
 import com.stuypulse.robot.constants.Settings;
 
@@ -28,6 +29,9 @@ public ClimberTest(){
         rightEncoder.setVelocityConversionFactor(Settings.ClimberTest.Encoder.VELOCITY_CONVERSION);
         leftEncoder.setVelocityConversionFactor(Settings.ClimberTest.Encoder.VELOCITY_CONVERSION);
 
+        // Motors.Climber.LEFT_MOTOR.configure(leftMotor);
+        // Motors.Climber.RIGHT_MOTOR.configure(rightMotor);
+
     }
     public void setLeftVoltage(double voltage){
         leftMotor.set(voltage);

src/main/java/com/stuypulse/robot/subsystems/swervetests/SwerveTest.java

@@ -8,23 +8,24 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class SwerveTest extends SubsystemBase{
-private final SwerveModuleTest[] modules;
+    private final SwerveModuleTest[] modules;
 
-SendableChooser<SwerveModuleTest> moduleChooser = new SendableChooser<SwerveModuleTest>();
-public SwerveTest(SwerveModuleTest... modules) {
+    SendableChooser<SwerveModuleTest> moduleChooser = new SendableChooser<SwerveModuleTest>();
 
-    new SwerveModuleTest("FrontRight", 10, 11, 1);
-    new SwerveModuleTest("FrontLeft", 12, 13, 2);
-    new SwerveModuleTest("BackLeft", 14, 15, 3);
-    new SwerveModuleTest("BackRight", 16, 17, 4);
-
-    this.modules = modules;
+    public SwerveTest(SwerveModuleTest... modules) {
+
+        new SwerveModuleTest("FrontRight", 10, 11, 1);
+        new SwerveModuleTest("FrontLeft", 12, 13, 2);
+        new SwerveModuleTest("BackLeft", 14, 15, 3);
+        new SwerveModuleTest("BackRight", 16, 17, 4);
+
+        this.modules = modules;
 
-    for (var module : modules){
-        moduleChooser.addOption(module.getID(), module);
-    }
+        for (var module : modules){
+            moduleChooser.addOption(module.getID(), module);
+        }
 
-    SmartDashboard.putData(moduleChooser);
+        SmartDashboard.putData(moduleChooser);
     }
 
     public void setDriveVoltage(double voltage){

src/main/java/com/stuypulse/robot/subsystems/swervetests/module/SwerveModuleTest.java

@@ -4,6 +4,7 @@
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
+import com.stuypulse.robot.constants.Motors;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 
@@ -23,6 +24,9 @@ public SwerveModuleTest(String id, int driveID, int turnID, int encoderID) {
         turnEncoder = new CANcoder(encoderID);
 
         this.id = id;
+
+        // Motors.Swerve.DRIVE_CONFIG.configure(driveMotor);
+        // Motors.Swerve.TURN_CONFIG.configure(turnMotor);
     } 
 
     public void setTurnMotor(double voltage){