Remove limitswitch

src/main/java/frc/robot/Robot.java

@@ -57,7 +57,6 @@ public void disabledPeriodic() {}
   @Override
   public void autonomousInit() {
     CommandScheduler.getInstance().cancelAll();
-    CommandScheduler.getInstance().schedule(m_robotContainer.zeroCommand());
   }
 
   /** This function is called periodically during autonomous. */
@@ -72,7 +71,9 @@ public void teleopInit() {
     // this line or comment it out.
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
+
     }
+    CommandScheduler.getInstance().schedule(m_robotContainer.zeroEncoders());
   }
 
   /** This function is called periodically during operator control. */

src/main/java/frc/robot/RobotContainer.java

@@ -5,21 +5,18 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.POVButton;
 import edu.wpi.first.wpilibj.Joystick;
+import frc.robot.commands.extensionarm.*;
 import frc.robot.commands.manipulator.IntakeCone;
 import frc.robot.commands.manipulator.IntakeCube;
 import frc.robot.commands.manipulator.OuttakeCone;
 import frc.robot.commands.manipulator.OuttakeCube;
-import frc.robot.commands.extensionarm.DumbExtend;
-import frc.robot.commands.extensionarm.DumbRetract;
-import frc.robot.commands.extensionarm.BaseExtension;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.commands.*;
-import frc.robot.commands.extensionarm.AutoZeroExtensionArm;
-import frc.robot.commands.extensionarm.ExtensionExtend;
 import frc.robot.commands.framework.Autos;
 import frc.robot.subsystems.Chassis;
 import frc.robot.subsystems.ExampleSubsystem;
@@ -76,7 +73,6 @@ public Manipulator getManipulator() {
    */
   private void configureBindings() {
 
-    new JoystickButton(m_WeaponsGamepad, 1).whileTrue(new AutoZeroExtensionArm(m_extension));
     new POVButton(m_weaponsGamepad, Constants.XBOXButtons.LST_POV_N).whileTrue(new DumbExtend(m_extension, this));
     new POVButton(m_weaponsGamepad, Constants.XBOXButtons.LST_POV_S).whileTrue(new DumbRetract(m_extension, this));
     new JoystickButton(m_weaponsGamepad, 3).whileTrue(new IntakeCone(getManipulator()));
@@ -88,8 +84,11 @@ private void configureBindings() {
   /**
    * Schedules a command to zero the extension arm
    */
-  public CommandBase zeroCommand() {
-    return (new AutoZeroExtensionArm(m_extension));
+  public CommandBase zeroEncoders() {
+    return (new ZeroEncoders(m_extension));
+  }
+  public CommandBase zeroEncoders() {
+    return (new ZeroEncoders(m_extension));
   }
 
   /**

src/main/java/frc/robot/commands/extensionarm/BaseExtension.java

@@ -22,12 +22,7 @@ public BaseExtension(ExtensionArm subsystem, RobotContainer container) {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    if(m_ExtensionArm.LimitSwitch()){ // if limit switch is hit, then zero encoders
-      m_ExtensionArm.resetEncoders();
-      m_ExtensionArm.setZeroed();
-    }
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

src/main/java/frc/robot/commands/extensionarm/ExtensionExtend.java

@@ -28,12 +28,7 @@ public ExtensionExtend(ExtensionArm subsystem, RobotContainer container) {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    if(m_ExtensionArm.LimitSwitch()){
-      m_ExtensionArm.resetEncoders();
-      m_ExtensionArm.setZeroed();
-    }
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

src/main/java/frc/robot/commands/extensionarm/AutoZeroExtensionArm.java → src/main/java/frc/robot/commands/extensionarm/ZeroEncoders.java

@@ -5,50 +5,39 @@
 package frc.robot.commands.extensionarm;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.RobotContainer;
 import frc.robot.subsystems.ExtensionArm;
 
 /** An example command that uses an example subsystem. */
-public class AutoZeroExtensionArm extends CommandBase {
+public class ZeroEncoders extends CommandBase {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final ExtensionArm m_extensionArm;
-
-  /**
-   * Creates a new ExampleCommand.
-   *
-   * @param subsystem The subsystem used by this command.
-   */
-  public AutoZeroExtensionArm(ExtensionArm subsystem) {
-    m_extensionArm = subsystem;
-    // Use addRequirements() here to declare subsystem dependencies.
+  private final ExtensionArm m_ExtensionArm;
+
+  public ZeroEncoders(ExtensionArm subsystem) {
+    m_ExtensionArm = subsystem;
     addRequirements(subsystem);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-
+      m_ExtensionArm.resetEncoders();
+      m_ExtensionArm.setZeroed();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-    m_extensionArm.runMotor(-.25);
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-    m_extensionArm.stop();
-    if (!interrupted) {
-      m_extensionArm.resetEncoders();
-    }
-    m_extensionArm.setZeroed();
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_extensionArm.LimitSwitch();
+    return false;
   }
-
 }
+
+

src/main/java/frc/robot/subsystems/ExtensionArm.java

@@ -23,9 +23,7 @@ public class ExtensionArm extends SubsystemBase {
   private final WPI_TalonSRX m_rightMotor;
 
   private final MotorControllerGroup m_extensionMotors;
-
-  private final DigitalInput m_limitSwitch;
-  private boolean isZeroed = false;
+  private boolean isZeroed = true;
 /**Extension arm testing constants*/
   public static double maxExtensionTicks = 100; // TODO
   public static double kExtensionDeadband = 0.05; //The % of max extension where it will slow down (works on both ends)
@@ -42,8 +40,6 @@ public ExtensionArm() {
     m_leftMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
     m_rightMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
 
-    m_limitSwitch = new DigitalInput(CAN.limitSwitch);
-
     m_rightMotor.configFactoryDefault();
     m_leftMotor.configFactoryDefault();
 
@@ -63,10 +59,6 @@ public ExtensionArm() {
   }
 
   /**returns if the limit switch has been hit*/
-  public boolean LimitSwitch(){
-    return m_limitSwitch.get();
-  }
-
   public double getPosition(){
     return m_leftMotor.getSelectedSensorPosition() * extensionTicksToArmDistance;
   }
@@ -154,7 +146,7 @@ public double rawMotorSpeed(double y) {
   }
 
   public boolean allowedToMovePastEnds(double y) {
-    if (LimitSwitch() && (y <= 0)) { // if trying to move past the limit switch, return false
+    if ((getPosition() <= 0) && (y <= 0)) { // if trying to move past the limit switch, return false
       return false;
     } else if ((getPosition() >= maxExtensionTicks) && (y >= 0)) { // if trying to move past maxTicks, return false
       return false;
@@ -218,7 +210,6 @@ public double getPercentage() {
   public void initSendable(SendableBuilder builder){
     builder.addDoubleProperty("Position", this::getPosition, null);
     builder.addDoubleProperty("Dumb Speed", this::getDumbSpeed, this::setDumbSpeed);
-    builder.addBooleanProperty("Hit Limit Switch", this::LimitSwitch, null);
     builder.addDoubleProperty("CMax Extension Ticks", this::getMaxExtensionTicks, this::setMaxExtensionTicks);
     builder.addDoubleProperty("CExtension Deadband", this::getkExtensionDeadband, this::setkExtensionDeadband);
     builder.addDoubleProperty("CSlow Zone Extension Percentage", this::getPercentage, this::setSlowExtensionEndsDistance);