Merge pull request #427 from thedropbears/remove-wrist-limit-switch

Remove wrist limit switch

Author: L9-bms

components/wrist.py

@@ -3,7 +3,6 @@
 import wpilib
 from magicbot import feedback
 from rev import (
-    LimitSwitchConfig,
     SparkMax,
     SparkMaxConfig,
 )
@@ -52,10 +51,6 @@ def __init__(self, mech_root: wpilib.MechanismRoot2d):
         wrist_config = SparkMaxConfig()
         wrist_config.inverted(False)
         wrist_config.setIdleMode(self.idle_mode)
-        wrist_config.limitSwitch.reverseLimitSwitchType(
-            LimitSwitchConfig.Type.kNormallyOpen
-        )
-        wrist_config.limitSwitch.reverseLimitSwitchEnabled(True)
 
         self.wrist_profile = TrapezoidProfile(
             TrapezoidProfile.Constraints(self.WRIST_MAX_VEL, self.WRIST_MAX_ACC)
@@ -182,10 +177,6 @@ def _tilt_to(self, pos: float):
     def go_to_neutral(self) -> None:
         self.tilt_to_shooter_FOR(WristComponent.NEUTRAL_ANGLE)
 
-    @feedback
-    def at_limit(self) -> bool:
-        return self.motor.getReverseLimitSwitch().get()
-
     def execute(self) -> None:
         self.tracked_state = self.wrist_profile.calculate(
             wpilib.Timer.getFPGATimestamp() - self.last_setpoint_update_time,