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Soft Limits & Homing

Protect mechanisms using forward/reverse soft limits and provide a Home command.

TalonFxUtils.configSoftLimits(fx, forwardLimit, reverseLimit, true);
setDefaultCommand(home());

public Command home() {
  return setPosition(() -> 0.0).withName("Home");
}

Notes

  • Always document mechanical zero and offset strategy
  • Provide a DS button/command to reset position safely