Hello! We are a new team and try to use SparkMax soft limit feature this year. We see below example from RevRobotics:
We are not sure how it should be ported into our command-based code structure. We see in robotInit() that restoreFactoryDefaults() is called followed by softlimits setup; the latter is then repeated in teleopPeriodic() after m_motor.set()…so:
- Why is the soft limit setup code repeated in teleop even though it’s done already in robotInit?
- Following the example’s “pattern”, should we port the code as following?
Please advise.
Thank!
RobotContainer:
private void configureButtonBindings() {
btnArmDown.whenPressed(new ArmDown(m_arm, () -> (!btnArmDown.get())));
btnArmUp.whenPressed(new ArmUp(m_arm, () -> (!btnArmUp.get())));
}
Subsystem:
public class Arm extends SubsystemBase {
private final CANSparkMax m_spark = new CANSparkMax(1, MotorType.kBrushless);
public void raise() {
m_spark.set(-ARM_MAX_SPEED);
}
public void lower() {
m_spark.set(ARM_MAX_SPEED);
}
public void stop() {
m_spark.set(0);
}
public void setSoftLimits(){
m_spark.enableSoftLimit(SoftLimitDirection.kForward, true);
m_spark.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_spark.setSoftLimit(SoftLimitDirection.kForward, ARM_SOFT_LIMIT_FWD); // 15
m_spark.setSoftLimit(SoftLimitDirection.kReverse, ARM_SOFT_LIMIT_BKW); // 0
}
public void reset() {
m_spark.restoreFactoryDefaults();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}
Command (one direction shown here only):
public class ArmUp extends WaitUntilCommand {
private Arm m_arm;
public ArmUp(Arm subsystem, BooleanSupplier btnState) {
super(btnState);
addRequirements(subsystem);
m_arm = subsystem;
}
@Override
public void initialize() {
m_arm.reset();
m_arm.setSoftLimits();
}
@Override
public void execute() {
m_arm.raise();
m_arm.setSoftLimits();
}
@Override
public void end(boolean interrupted) {
m_arm.stop();
m_arm.reset();
}
}