Package com.revrobotics.spark.config

Class LimitSwitchConfig

java.lang.Object
com.revrobotics.config.BaseConfig
com.revrobotics.spark.config.LimitSwitchConfig
public class LimitSwitchConfig extends BaseConfig

  • Constructor Details

    • LimitSwitchConfig

      public LimitSwitchConfig()
      Create a new object to configure a LimitSwitch.

  • 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

      @Deprecated public LimitSwitchConfig forwardLimitSwitchEnabled(boolean enabled)
      Deprecated.
      Use the forwardLimitSwitchTriggerBehavior(com.revrobotics.spark.config.LimitSwitchConfig.Behavior) instead
      Set whether to enable/disable motor shutdown based on the forward limit switch state. This does not not affect the result of the isPressed() command.
      Parameters:
      enabled - True for halting the motor when triggered
      Returns:
      The modified LimitSwitchConfig object for method chaining

    • forwardLimitSwitchTriggerBehavior

      public LimitSwitchConfig forwardLimitSwitchTriggerBehavior(LimitSwitchConfig.Behavior behavior)
      Set the trigger behavior based on the forward limit switch state. This does not not affect the result of the isPressed() command.
      Parameters:
      behavior - The trigger 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

    • forwardLimitSwitchPosition

      public LimitSwitchConfig forwardLimitSwitchPosition(double position)
      Set the triggered position value of the forward limit switch (used when the enable mode is set to kEnabled_SetValueOnTrigger).
      Parameters:
      position - user specified position value
      Returns:
      The modified LimitSwitchConfig object for method chaining

    • reverseLimitSwitchEnabled

      @Deprecated public LimitSwitchConfig reverseLimitSwitchEnabled(boolean enabled)
      Deprecated.
      Use the reverseLimitSwitchTriggerBehavior(com.revrobotics.spark.config.LimitSwitchConfig.Behavior) instead
      Set whether to enable/disable motor shutdown based on the reverse limit switch state. This does not not affect the result of the isPressed() command.
      Parameters:
      enabled - True for halting the motor when triggered
      Returns:
      The modified LimitSwitchConfig object for method chaining

    • reverseLimitSwitchTriggerBehavior

      public LimitSwitchConfig reverseLimitSwitchTriggerBehavior(LimitSwitchConfig.Behavior behavior)
      Set the trigger behavior based on the reverse limit switch state. This does not not affect the result of the isPressed() command.
      Parameters:
      behavior - The trigger 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

    • reverseLimitSwitchPosition

      public LimitSwitchConfig reverseLimitSwitchPosition(double position)
      Set the triggered position value of the reverse limit switch (used when the enable mode is set to kEnabled_SetValueOnTrigger).
      Parameters:
      position - user specified position value
      Returns:
      The modified LimitSwitchConfig object for method chaining

    • limitSwitchPositionSensor

      public LimitSwitchConfig limitSwitchPositionSensor(FeedbackSensor sensor)
      Specifies the feedback sensor that the triggered position value is set on. This applies for both forward and reverse limit switches.
      Parameters:
      sensor - The feedback sensor to set the position value on
      Returns:
      The modified LimitSwitchConfig object for method chaining