Package com.revrobotics.spark.config

Class LimitSwitchConfig

java.lang.Object

com.revrobotics.spark.config.BaseConfig

com.revrobotics.spark.config.LimitSwitchConfig

public class LimitSwitchConfig
extends BaseConfig

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	LimitSwitchConfig.Type

Constructor Summary

Constructors

Constructor	Description
LimitSwitchConfig()

Method Summary

Modifier and Type	Method	Description
LimitSwitchConfig	apply(LimitSwitchConfig config)	Applies settings from another LimitSwitchConfig to this one.
LimitSwitchConfig	forwardLimitSwitchEnabled(boolean enabled)	Set whether to enable or disable motor shutdown based on the forward limit switch state.
LimitSwitchConfig	forwardLimitSwitchType(LimitSwitchConfig.Type type)	Set the normal state of the forward limit switch.
LimitSwitchConfig	reverseLimitSwitchEnabled(boolean enabled)	Set whether to enable or disable motor shutdown based on the reverse limit switch state.
LimitSwitchConfig	reverseLimitSwitchType(LimitSwitchConfig.Type type)	Set the normal state of the reverse limit switch.
LimitSwitchConfig	setSparkMaxDataPortConfig()	Configures the data port to use limit switches, which is specifically required for SPARK MAX.

Methods inherited from class com.revrobotics.spark.config.BaseConfig

flatten

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

LimitSwitchConfig

public LimitSwitchConfig()

Method Details

apply

public LimitSwitchConfig apply(LimitSwitchConfig config)

Applies settings from another LimitSwitchConfig to this one.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters:

config - The LimitSwitchConfig to copy settings from

Returns:

The updated LimitSwitchConfig for method chaining

setSparkMaxDataPortConfig

public LimitSwitchConfig setSparkMaxDataPortConfig()

Configures the data port to use limit switches, which is specifically required for SPARK MAX.

NOTE: This method is only necessary when using limit switches with a SPARK MAX without configuring any of its settings

IMPORTANT: SPARK MAX does not support using limit switches in conjunction with an alternate encoder.

Returns:

The modified LimitSwitchConfig object for method chaining

forwardLimitSwitchEnabled

public LimitSwitchConfig forwardLimitSwitchEnabled(boolean enabled)

Set whether to enable or disable motor shutdown based on the forward limit switch state. This does not not affect the result of the isPressed() command.

Parameters:

enabled - True to enable motor shutdown behavior

Returns:

The modified LimitSwitchConfig object for method chaining

forwardLimitSwitchType

public LimitSwitchConfig forwardLimitSwitchType(LimitSwitchConfig.Type type)

Set the normal state of the forward limit switch.

Parameters:

type - kNormallyOpen or kNormallyClosed

Returns:

The modified LimitSwitchConfig object for method chaining

reverseLimitSwitchEnabled

public LimitSwitchConfig reverseLimitSwitchEnabled(boolean enabled)

Set whether to enable or disable motor shutdown based on the reverse limit switch state. This does not not affect the result of the isPressed() command.

Parameters:

enabled - True to enable motor shutdown behavior

Returns:

The modified LimitSwitchConfig object for method chaining

reverseLimitSwitchType

public LimitSwitchConfig reverseLimitSwitchType(LimitSwitchConfig.Type type)

Set the normal state of the reverse limit switch.

Parameters:

type - kNormallyOpen or kNormallyClosed

Returns:

The modified LimitSwitchConfig object for method chaining