Package com.revrobotics

Class SparkLimitSwitch

java.lang.Object

com.revrobotics.SparkLimitSwitch

All Implemented Interfaces:

CANDigitalInput, SparkMaxLimitSwitch

public class SparkLimitSwitch
extends java.lang.Object
implements SparkMaxLimitSwitch

Get an instance of this class by using CANSparkBase.getForwardLimitSwitch(Type) or CANSparkBase.getReverseLimitSwitch(Type).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SparkLimitSwitch.Type

Nested classes/interfaces inherited from interface com.revrobotics.CANDigitalInput

CANDigitalInput.LimitSwitchPolarity

Method Summary

Modifier and Type	Method	Description
REVLibError	enableLimitSwitch(boolean enable)	Enables or disables controller shutdown based on the limit switch.
boolean	get()	Deprecated, for removal: This API element is subject to removal in a future version. Use isPressed() instead
boolean	isLimitSwitchEnabled()
boolean	isPressed()	Returns true if the limit switch is pressed, based on the selected polarity.

Methods inherited from class java.lang.Object

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

Method Detail

isPressed

public boolean isPressed()

Returns true if the limit switch is pressed, based on the selected polarity.

This method works even if the limit switch is not enabled for controller shutdown.

Specified by:

isPressed in interface SparkMaxLimitSwitch

Returns:

true if the limit switch is pressed

get

@Deprecated(forRemoval=true)
public boolean get()

Deprecated, for removal: This API element is subject to removal in a future version.

Use isPressed() instead

Returns true if the limit switch is pressed, based on the selected polarity.

This method works even if the limit switch is not enabled.

Specified by:

get in interface CANDigitalInput

Specified by:

get in interface SparkMaxLimitSwitch

Returns:

true if the limit switch is pressed

enableLimitSwitch

public REVLibError enableLimitSwitch(boolean enable)

Enables or disables controller shutdown based on the limit switch.

Specified by:

enableLimitSwitch in interface CANDigitalInput

Specified by:

enableLimitSwitch in interface SparkMaxLimitSwitch

Parameters:

enable - Enable/disable motor shutdown based on the limit switch state. This does not affect the result of the get() command.

Returns:

REVLibError.kOk if successful

isLimitSwitchEnabled

public boolean isLimitSwitchEnabled()

Specified by:

isLimitSwitchEnabled in interface CANDigitalInput

Specified by:

isLimitSwitchEnabled in interface SparkMaxLimitSwitch

Returns:

true if the limit switch is enabled