Elevator code karena

build.gradle

@@ -21,7 +21,7 @@ deploy {
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
+            team = project.frc.getTeamOrDefault(199)
             debug = project.frc.getDebugOrDefault(false)
 
             artifacts {

src/main/java/org/carlmontrobotics/Constants.java

@@ -1,5 +1,7 @@
 package org.carlmontrobotics;
 
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
 public final class Constants {
     // public static final class Drivetrain {
     //     public static final double MAX_SPEED_MPS = 2;
@@ -12,4 +14,64 @@ public static final class Manipulator {
             public static final int port = 1;
         }
     }
+    public static final class Elevatorc {
+        //ports
+        public static final int masterPort = 20;
+        public static final int followerPort = 21;
+		public static final int elevatorTopLimitSwitchPort = 1;
+        public static final int elevatorBottomLimitSwitchPort = 2;
+
+
+        //Config
+        //TODO figure these parts out
+        public static final IdleMode masterIdleMode = IdleMode.kBrake;
+        public static final IdleMode followerIdleMode = IdleMode.kBrake;
+        public static final boolean masterInverted = true;
+        public static final boolean followerInverted = true;
+        public static final double masterPositionConversionFactor = 1000;
+        public static final double followerPositionConversionFactor = 1000;
+        public static final double masterVelocityConversionFactor = 1000;
+        public static final double followerVelocityConversionFactor = 1000;
+        public static final double maxElevatorHeightInches = 0;
+        public static final double minElevatorHeightInches = 0;
+
+        //PID
+        public static final double kP = 1;
+        public static final double kI = 0;
+        public static final double kD = 0;
+        //Positions
+        public static final double downPos = 0;
+        public static final double l1 = 0;
+        public static final double l2 = 0;
+        public static final double l3 = 0;
+        public static final double l4 = 0;
+        public static final double net = 0;
+        public static final double processor = 0;
+        public static final double bottomAlgaeRemoval = 0;
+        public static final double uppperAlgaeRemoval = 0;
+        //ScoreENUM
+        public enum ElevatorPos {
+            DOWN(downPos),
+            L1(l1),
+            L2(l2),
+            L3(l3),
+            L4(l4),
+            NET(net),
+            PROCESSOR(processor),
+            BOTTOMALGAE(bottomAlgaeRemoval),
+            UPPERALGAE(uppperAlgaeRemoval);
+
+            public final double positionInches;
+            ElevatorPos(double positionInches) {
+                this.positionInches = positionInches;
+            }
+
+            public double getPosition() {
+                return positionInches;
+            }
+        }
+        //Tolerance
+        public static final double elevatorTolerance = 0.4;
+
+    }
 }

src/main/java/org/carlmontrobotics/commands/ElevatorBottomAlgaeRemoval.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorBottomAlgaeRemoval extends Command {
+    Elevator elevator;
+
+    public ElevatorBottomAlgaeRemoval(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.BOTTOMALGAE);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorDown.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorDown extends Command {
+    Elevator elevator;
+
+    public ElevatorDown(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.DOWN);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorL1.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorL1 extends Command {
+    Elevator elevator;
+
+    public ElevatorL1(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.L1);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorL2.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorL2 extends Command {
+    Elevator elevator;
+
+    public ElevatorL2(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.L2);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorL3.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorL3 extends Command {
+    Elevator elevator;
+
+    public ElevatorL3(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.L3);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorL4.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorL4 extends Command {
+    Elevator elevator;
+
+    public ElevatorL4(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.L4);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorNet.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorNet extends Command {
+    Elevator elevator;
+
+    public ElevatorNet(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.NET);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorProcessor.java

@@ -0,0 +1,30 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+
+public class ElevatorProcessor extends Command {
+    private final Elevator elevator;
+    public ElevatorProcessor(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.PROCESSOR);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/org/carlmontrobotics/commands/ElevatorUpperAlgaeRemoval.java

@@ -0,0 +1,31 @@
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Elevatorc.ElevatorPos;
+import org.carlmontrobotics.subsystems.Elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ElevatorUpperAlgaeRemoval extends Command {
+    Elevator elevator;
+
+    public ElevatorUpperAlgaeRemoval(Elevator elevator) {
+        addRequirements(this.elevator = elevator);
+    }
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+        elevator.setGoal(ElevatorPos.UPPERALGAE);
+    }
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}