Elevator subsystem skeleton creation

src/main/java/competition/electrical_contract/Contract2025.java

@@ -48,6 +48,23 @@ public boolean areCanCodersReady() {
         return true;
     }
 
+    @Override
+    public boolean isElevatorReady() {
+        return false; //return true when ready
+    }
+
+    @Override
+    public CANMotorControllerInfo getElevatorMaster() {
+        return new CANMotorControllerInfo( //change CANBUS ID's later
+                "Master Elevator Motor", MotorControllerType.TalonFx, new CANBusId("99"), 99, new CANMotorControllerOutputConfig());
+    }
+
+    @Override
+    public CANMotorControllerInfo getElevatorFollower() {
+        return new CANMotorControllerInfo( //same as above
+                "Follower Elevator Motor", MotorControllerType.TalonFx, new CANBusId("98"), 98, new CANMotorControllerOutputConfig());
+    }
+
     protected String getDriveControllerName(SwerveInstance swerveInstance) {
         return "DriveSubsystem/" + swerveInstance.label() + "/Drive";
     }

src/main/java/competition/electrical_contract/ElectricalContract.java

@@ -20,6 +20,12 @@ public abstract class ElectricalContract implements XSwerveDriveElectricalContra
 
     public abstract XYPair getSwerveModuleOffsetsInInches(SwerveInstance swerveInstance);
 
+    public abstract boolean isElevatorReady();
+
+    public abstract CANMotorControllerInfo getElevatorMaster();
+
+    public abstract CANMotorControllerInfo getElevatorFollower();
+
     public abstract boolean isAlgaeCollectionReady();
 
     public abstract CANMotorControllerInfo getAlgaeCollectionMotor();

src/main/java/competition/subsystems/elevator/ElevatorSubsystem.java

@@ -0,0 +1,111 @@
+package competition.subsystems.elevator;
+
+import competition.electrical_contract.ElectricalContract;
+import xbot.common.advantage.DataFrameRefreshable;
+import xbot.common.command.BaseSetpointSubsystem;
+import xbot.common.controls.actuators.XCANMotorController;
+import xbot.common.properties.DoubleProperty;
+import xbot.common.properties.PropertyFactory;
+
+import javax.inject.Inject;
+import javax.inject.Singleton;
+
+@Singleton
+public class ElevatorSubsystem extends BaseSetpointSubsystem<Double> implements DataFrameRefreshable {
+
+    public enum ElevatorGoals{
+        ScoreL1,
+        ScoreL2,
+        ScoreL3,
+        ScoreL4,
+        CoralCollection,
+        ReturnToBase
+    }
+
+    final DoubleProperty elevatorPower;
+    final ElectricalContract contract;
+
+    private boolean isCalibrated;
+
+    final DoubleProperty elevatorTargetHeight;
+    final DoubleProperty currentHeight;
+
+    //assuming we'll have a master and follower motors
+    public XCANMotorController masterMotor;
+    public XCANMotorController followerMotor;
+
+
+    @Inject
+    public ElevatorSubsystem(XCANMotorController.XCANMotorControllerFactory motorFactory, PropertyFactory pf, ElectricalContract contract){
+
+        this.elevatorPower = pf.createPersistentProperty("Elevator Power", 0.5);
+        this.contract = contract;
+
+        //was going to make this ephemeral but cant find it
+        this.elevatorTargetHeight = pf.createPersistentProperty("Elevator Target", 0.0);
+        this.currentHeight = pf.createPersistentProperty("Current Height", 0.0);
+
+
+        if(contract.isElevatorReady()){
+            this.masterMotor = motorFactory.create(contract.getElevatorMaster(), this.getPrefix(), "Elevator Motor");
+            this.followerMotor = motorFactory.create(contract.getElevatorFollower(), this.getPrefix(), "Elevator Motor");
+        }
+    }
+
+    //will implement logic later
+    @Override
+    public void setPower(Double power) {
+        if (contract.isElevatorReady()) {
+            masterMotor.setPower(power);
+            followerMotor.setPower(power);
+        }
+    }
+
+    public void rise(){
+        setPower(elevatorPower.get());
+    }
+
+    public void lower(){
+        setPower(-elevatorPower.get());
+    }
+
+    public void stop(){
+        setPower(0.0);
+    }
+
+
+    @Override
+    public Double getCurrentValue() {
+        if (contract.isElevatorReady()){
+            return this.currentHeight.get();
+        }
+        return 0.0;
+    }
+
+    @Override
+    public void setTargetValue(Double targetHeight) {
+        this.elevatorTargetHeight.set(targetHeight);
+    }
+
+    @Override
+    public Double getTargetValue() {
+        return this.elevatorTargetHeight.get();
+    }
+
+    @Override
+    public boolean isCalibrated() {
+        return isCalibrated;
+    }
+
+    @Override
+    protected boolean areTwoTargetsEquivalent(Double target1, Double target2) {
+        return BaseSetpointSubsystem.areTwoDoublesEquivalent(target1, target2, 1);
+    }
+
+    @Override
+    public void refreshDataFrame() {
+        //to be implemented later
+    }
+
+
+}

src/main/java/competition/subsystems/elevator/commands/ElevatorMaintainerCommand.java

@@ -0,0 +1,35 @@
+package competition.subsystems.elevator.commands;
+
+import competition.subsystems.elevator.ElevatorSubsystem;
+import xbot.common.command.BaseCommand;
+import xbot.common.command.BaseSubsystem;
+import xbot.common.properties.PropertyFactory;
+
+import javax.inject.Inject;
+
+public class ElevatorMaintainerCommand extends BaseCommand {
+
+    public enum MaintainerMode{
+        Calibrating,
+        GaveUp,
+        Calibrated,
+    }
+
+    ElevatorSubsystem elevator;
+
+    @Inject
+    public ElevatorMaintainerCommand(ElevatorSubsystem elevator, PropertyFactory pf){
+        this.elevator = elevator;
+    }
+
+    @Override
+    public void initialize() {
+        log.info("initializing");
+    }
+
+    @Override
+    public void execute(){
+
+    }
+
+}

src/main/java/competition/subsystems/elevator/commands/LowerElevatorCommand.java

@@ -0,0 +1,29 @@
+package competition.subsystems.elevator.commands;
+
+import competition.subsystems.elevator.ElevatorSubsystem;
+import xbot.common.command.BaseCommand;
+
+import javax.inject.Inject;
+
+public class LowerElevatorCommand extends BaseCommand {
+
+    ElevatorSubsystem elevator;
+
+    @Inject
+    public LowerElevatorCommand(ElevatorSubsystem elevator){
+        this.elevator = elevator;
+        addRequirements(elevator);
+    }
+
+    @Override
+    public void initialize() {
+        log.info("initializing");
+    }
+
+    @Override
+    public void execute(){
+        elevator.lower();
+    }
+}
+
+

src/main/java/competition/subsystems/elevator/commands/RiseElevatorCommand.java

@@ -0,0 +1,27 @@
+package competition.subsystems.elevator.commands;
+
+import competition.subsystems.elevator.ElevatorSubsystem;
+import xbot.common.command.BaseCommand;
+
+import javax.inject.Inject;
+
+public class RiseElevatorCommand extends BaseCommand {
+
+    ElevatorSubsystem elevator;
+
+    @Inject
+    public RiseElevatorCommand(ElevatorSubsystem elevator){
+        this.elevator = elevator;
+        addRequirements(elevator);
+    }
+
+    @Override
+    public void initialize() {
+        log.info("initializing");
+    }
+
+    @Override
+    public void execute(){
+        elevator.rise();
+    }
+}

src/main/java/competition/subsystems/elevator/commands/SetElevatorTargetHeightCommand.java

@@ -0,0 +1,33 @@
+package competition.subsystems.elevator.commands;
+
+import competition.subsystems.elevator.ElevatorSubsystem;
+import xbot.common.command.BaseCommand;
+
+import javax.inject.Inject;
+
+public class SetElevatorTargetHeightCommand extends BaseCommand {
+
+    Double height;
+    ElevatorSubsystem elevator;
+
+    @Inject
+    public SetElevatorTargetHeightCommand(ElevatorSubsystem elevator){
+        this.elevator = elevator;
+        addRequirements(elevator);
+    }
+
+    @Override
+    public void initialize() {
+        log.info("initializing");
+        elevator.setTargetValue(height);
+    }
+
+    @Override
+    public void execute() {
+        elevator.setTargetValue(height);
+    }
+
+    public void setHeight(double height) {
+        this.height = height;
+    }
+}

src/main/java/competition/subsystems/elevator/commands/StopElevatorCommand.java

@@ -0,0 +1,29 @@
+package competition.subsystems.elevator.commands;
+
+import competition.subsystems.elevator.ElevatorSubsystem;
+import xbot.common.command.BaseCommand;
+
+import javax.inject.Inject;
+import javax.inject.Singleton;
+
+@Singleton
+public class StopElevatorCommand extends BaseCommand {
+
+    ElevatorSubsystem elevator;
+
+    @Inject
+    public StopElevatorCommand(ElevatorSubsystem elevator) {
+        this.elevator = elevator;
+        addRequirements(elevator);
+    }
+
+    @Override
+    public void initialize() {
+        log.info("initializing");
+    }
+
+    @Override
+    public void execute() {
+        elevator.stop();
+    }
+}