Allow forward and reverse limit switches to be enabled/disabled

lasarobotics · Dec 20, 2023 · a060808 · a060808
1 parent 9fbf970
commit a060808
Showing 1 changed file with 28 additions and 0 deletions.
diff --git a/src/main/java/org/lasarobotics/hardware/SparkMax.java b/src/main/java/org/lasarobotics/hardware/SparkMax.java
@@ -599,6 +599,34 @@ public void resetEncoder() {
     System.out.println(String.join(" ", m_id.name, "Encoder reset!"));
   }
 
+  /**
+   * Disable forward limit switch
+   */
+  public void disableForwardLimitSwitch() {
+    getForwardLimitSwitch().enableLimitSwitch(false);
+  }
+
+  /**
+   * Enable forward limit switch
+   */
+  public void enableForwardLimitSwitch() {
+    getForwardLimitSwitch().enableLimitSwitch(true);
+  }
+
+  /**
+   * Disable reverse limit switch
+   */
+  public void disableReverseLimitSwitch() {
+    getReverseLimitSwitch().enableLimitSwitch(false);
+  }
+
+  /**
+   * Enable reverse limit switch
+   */
+  public void enableReverseLimitSwitch() {
+    getReverseLimitSwitch().enableLimitSwitch(true);
+  }
+
   /**
    * Enable PID wrapping for closed loop position control
    * @param minInput Value of the min input for position