refactor: move & rename ElevatorState enum to ElevatorExtension

Signed-off-by: Dasun Abeykoon <[email protected]>

Author: dabeycorn

src/main/java/org/frc6423/robot/subsystems/superstructure/elevator/Elevator.java

@@ -6,7 +6,6 @@
 
 package org.frc6423.robot.subsystems.superstructure.elevator;
 
-import static edu.wpi.first.units.Units.Centimeters;
 import static edu.wpi.first.units.Units.Inches;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.MetersPerSecond;
@@ -30,9 +29,13 @@
 
 /** Elevator Subsystem */
 public class Elevator extends SubsystemBase implements AutoCloseable {
-  // * CONSTANTS
+  /** Name of the CAN bus hardware is on */
   public static final String CANBUS = "CANCHAN";
+
+  /** Parent motor CAN ID */
   public static final int PARENT_MOTOR_ID = 14;
+
+  /** Child motor CAN ID */
   public static final int CHILD_MOTOR_ID = 15;
 
   /** Gear ratio of the elevator gearbox */
@@ -59,6 +62,21 @@ public class Elevator extends SubsystemBase implements AutoCloseable {
   /** The acceleration of the elevator's trapezoid profile */
   public static final LinearAcceleration MAX_ACCELERATION = MetersPerSecondPerSecond.of(10.0);
 
+  /** Represents a height the elevator can extend to */
+  public static enum ElevatorExtension {
+    STOWED(Meters.of(0.0)),
+    INTAKING(Meters.of(0.0)),
+    L2(Meters.of(4.549)),
+    L3(Meters.of(12.41)),
+    L4(Meters.of(24.0));
+
+    Distance height;
+
+    ElevatorExtension(Distance height) {
+      this.height = height;
+    }
+  }
+
   @Logged(name = "Elevator Hardware Loggables")
   private final ElevatorIO hardware;
 
@@ -104,10 +122,6 @@ public void periodic() {
     hardware.periodic();
 
     filteredCurrent = currentFilter.calculate(hardware.getParentStatorCurrentAmps());
-
-    /** Set visualizer poses */
-    visualizer.setCarriageHeight(getCarriageHeight().in(Centimeters));
-    visualizer.setStageHeight(getStageHeight().in(Centimeters));
   }
 
   /**
@@ -177,21 +191,21 @@ public Command runCurrentHoming() {
   /**
    * Run elevator to specified extension height
    *
-   * @param extension {@link ElevatorState} representing desired extension height
+   * @param extension {@link Distance} representing desired extension height
    * @return {@link Command}
    */
-  public Command runExtension(ElevatorState extension) {
-    return this.runExtension(extension.height);
+  public Command runExtension(Distance extension) {
+    return this.run(() -> hardware.setPose(extension.in(Meters)));
   }
 
   /**
    * Run elevator to specified extension height
    *
-   * @param extension {@link Distance} representing desired extension height
+   * @param extension {@link ElevatorExtension} representing desired extension height
    * @return {@link Command}
    */
-  public Command runExtension(Distance extension) {
-    return this.run(() -> hardware.setPose(extension.in(Meters)));
+  public Command runExtension(ElevatorExtension extension) {
+    return runExtension(extension.height);
   }
 
   /**

src/main/java/org/frc6423/robot/subsystems/superstructure/elevator/ElevatorState.java

@@ -17,7 +17,7 @@
 import java.util.ArrayList;
 import java.util.stream.Stream;
 import org.frc6423.robot.subsystems.superstructure.elevator.Elevator;
-import org.frc6423.robot.subsystems.superstructure.elevator.ElevatorState;
+import org.frc6423.robot.subsystems.superstructure.elevator.Elevator.ElevatorExtension;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.RepeatedTest;
@@ -65,13 +65,13 @@ public void runRandExtension() {
   }
 
   /**
-   * Run all {@link ElevatorState}
+   * Run all {@link ElevatorExtension}
    *
-   * @param extension {@link ElevatorState}
+   * @param extension {@link ElevatorExtension}
    */
   @ParameterizedTest
   @MethodSource("provideExtensionHeights")
-  public void runExtensions(ElevatorState extension) {
+  public void runExtensions(ElevatorExtension extension) {
     runToCompletion(
         elevator
             .runExtension(extension)
@@ -80,11 +80,11 @@ public void runExtensions(ElevatorState extension) {
   }
 
   /**
-   * @return {@link Stream} of all {@link ElevatorState}
+   * @return {@link Stream} of all {@link ElevatorExtension}
    */
   private static Stream<Arguments> provideExtensionHeights() {
     ArrayList<Arguments> extensions = new ArrayList<>();
-    for (var extension : ElevatorState.values()) {
+    for (var extension : ElevatorExtension.values()) {
       extensions.add(Arguments.of(extension));
     }