From 94ce2eb3bc568ecac4f6528c5822efabc65f1e3d Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 21 Sep 2016 12:13:07 -0400
Subject: [PATCH] Implemented stopping the arm using limit switches

---
 src/org/usfirst/frc/team2059/robot/Robot.java               | 2 ++
 .../frc/team2059/robot/commands/shooter/MoveArm.java        | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index c84f040..efac689 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -20,6 +20,8 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putBoolean("CompressorEnabled", true);
     //Automatically determine if rolling in or rolling out
     SmartDashboard.putBoolean("SmartRollers", true);
+    //Use the limit swithces on the shooter
+    SmartDashboard.putBoolean("UseLimitSwitches", true);
   }
   public void disabledInit() {
   }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
index 38fd21c..4499827 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team2059.robot.commands.shooter;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 /**
  *
  */
@@ -21,6 +22,11 @@ public class MoveArm extends CommandBase {
   }
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
+    if (SmartDashboard.getBoolean("UseLimitSwitches")) {
+      if (mainArm.getTopPressed() || mainArm.getBottomPressed()) {
+        return true;
+      }
+    }
     return false;
   }
   // Called once after isFinished returns true