Elevator subsystem skeleton creation #14
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src/main/java/competition/electrical_contract/Contract2025.java
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src/main/java/competition/electrical_contract/Contract2025.java
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src/main/java/competition/subsystems/elevator/ElevatorSubsystem.java
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src/main/java/competition/subsystems/elevator/ElevatorSubsystem.java
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src/main/java/competition/subsystems/elevator/ElevatorSubsystem.java
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| //common TargetHeights | ||
| } | ||
| double defaultElevatorPower; | ||
| final DoubleProperty elevatorPower; |
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⭐ ⭐ Making the elevator go up vs down usually needs VERY different powers. And maybe we just have a gamepad control it with the joystick in the short-run?
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Agree, but gamepad control should go into the HumanInput of the maintainer.
src/main/java/competition/subsystems/elevator/ElevatorSubsystem.java
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…488/TeamXbot2025 into Elevator-Subsystem-Skeleton
…488/TeamXbot2025 into Elevator-Subsystem-Skeleton
…488/TeamXbot2025 into Elevator-Subsystem-Skeleton
| //common TargetHeights | ||
| } | ||
| double defaultElevatorPower; | ||
| final DoubleProperty elevatorPower; |
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Agree, but gamepad control should go into the HumanInput of the maintainer.
| this.contract = contract; | ||
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| //was going to make this ephemeral but cant find it | ||
| this.elevatorTargetHeight = pf.createPersistentProperty("Elevator Target", 0.0); |
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just turn these into double and then use aKitLog.record in periodic() to save them
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| } | ||
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| public void rise(){ |
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recommend renaming to "raise".
Raise & Lower are a semantic pair.
Rise & Fall are a semantic pair.
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| @Override | ||
| public void refreshDataFrame() { | ||
| //to be implemented later |
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just do motor.refreshDataFrame() for any motor(s) you have.
| public void refreshDataFrame() { | ||
| //to be implemented later | ||
| } | ||
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also add a periodic() where you call motor.periodic()
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| import javax.inject.Inject; | ||
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| public class ElevatorMaintainerCommand extends BaseCommand { |
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this needs to extend BaseMaintainerCommand
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| import javax.inject.Inject; | ||
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| public class SetElevatorTargetHeightCommand extends BaseCommand { |
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this needs to extend BaseSetpointCommand
Creating elevator subsystem skeleton
Asana task URL: https://app.asana.com/0/1208731987242938/1209174882393849/f
Whats changing?
Basic Elevator Commands inlcluding rise, lower, stop, along with basic power setting to elevator motors, also added abstract methods for motor device info in electrical contract, and implemented them in competition contract 2025.
Questions/notes for reviewers
Does the Elevator subsystem have to extend a BaseSetpointSubsystem rather than a BaseSubsystem
Also are the motors supposed to be XCANTalon's or is it the XCANMotorControllers
What the heck is motion magic and do i need to use that for elevator power logic in the future?
No tests, just a basic skeleton
PR feedback legend