Merge pull request #11 from grt192/elevator-merge

Elevator merge

.OutlineViewer/outlineviewer.json

@@ -0,0 +1,68 @@
+{
+  "Clients": {
+    "open": true
+  },
+  "Connections": {
+    "open": true
+  },
+  "[email protected]:59486": {
+    "Publishers": {
+      "open": true
+    },
+    "Subscribers": {
+      "open": true
+    },
+    "open": true
+  },
+  "[email protected]:59984": {
+    "Publishers": {
+      "open": true
+    },
+    "Subscribers": {
+      "open": true
+    },
+    "open": true
+  },
+  "[email protected]:61719": {
+    "Publishers": {
+      "open": true
+    },
+    "open": true
+  },
+  "[email protected]:65507": {
+    "Publishers": {
+      "open": true
+    },
+    "open": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "192"
+  },
+  "Server": {
+    "open": true
+  },
+  "outlineviewer@5": {
+    "open": true
+  },
+  "retained": {
+    "elevator": {
+      "open": true
+    }
+  },
+  "shuffleboard@2": {
+    "Subscribers": {
+      "open": true
+    }
+  },
+  "transitory": {
+    "Shuffleboard": {
+      "Auton": {
+        "Field": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -16,6 +16,24 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+  public static class ElevatorConstants {
+    public static final int EXTENSION_ID = 0;
+    public static final int EXTENSION_FOLLOW_ID = 0;
+
+    public static final float EXTENSION_LIMIT_METERS = 0;
+
+    public static final int ZERO_LIMIT_ID = 0;
+
+    public static final int GROUND_POSITION = 0;
+    public static final int SPEAKER_POSITION = 0;
+    public static final int AMP_POSITION = 0;
+    public static final int CHUTE_POSITION = 0;
+    public static final int TRAP_POSITION = 0;
+    public static final int START_POSITION = 0; 
+
+    public static final double POSITIONCONVERSIONFACTOR = 0;
+    public static final double VELOCITYCONVERSIONFACTOR = 0;
+  }
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
   }

src/main/java/frc/robot/commands/elevator/ElevatorSetAutoCommand.java

@@ -0,0 +1,26 @@
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public class ElevatorSetAutoCommand extends Command{
+    private ElevatorSubsystem elevatorSubsystem;
+    public ElevatorSetAutoCommand(ElevatorSubsystem elevatorSubsystem){
+        this.addRequirements(elevatorSubsystem);
+        this.elevatorSubsystem = elevatorSubsystem;
+    }
+
+    @Override
+    public void end(boolean interrupted){
+        return;
+    }
+
+    @Override
+    public void execute(){
+        this.elevatorSubsystem.setAuto();
+    }
+
+    public boolean isFinished(){
+        return true;
+    }
+}

src/main/java/frc/robot/commands/elevator/ElevatorSetManualCommand.java

@@ -0,0 +1,26 @@
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public class ElevatorSetManualCommand extends Command{
+    private ElevatorSubsystem elevatorSubsystem;
+    public ElevatorSetManualCommand(ElevatorSubsystem elevatorSubsystem){
+        this.addRequirements(elevatorSubsystem);
+        this.elevatorSubsystem = elevatorSubsystem;
+    }
+
+    @Override
+    public void end(boolean interrupted){
+        return;
+    }
+
+    @Override
+    public void execute(){
+        this.elevatorSubsystem.setManual();
+    }
+
+    public boolean isFinished(){
+        return true;
+    }
+}

src/main/java/frc/robot/commands/elevator/ElevatorToAMPCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorState;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public class ElevatorToAMPCommand extends Command{
+    private ElevatorSubsystem elevatorSubsystem;
+    public ElevatorToAMPCommand(ElevatorSubsystem elevatorSubsystem){
+        this.addRequirements(elevatorSubsystem);
+        this.elevatorSubsystem = elevatorSubsystem;
+    }
+
+    @Override
+    public void end(boolean interrupted){
+        return;
+    }
+
+    @Override
+    public void execute(){
+        this.elevatorSubsystem.setTargetState(ElevatorState.AMP);
+    }
+
+    @Override
+    public boolean isFinished(){
+        if(this.elevatorSubsystem.getState()==ElevatorState.AMP){
+            return true;
+        }
+        else return false;
+    }
+}

src/main/java/frc/robot/commands/elevator/ElevatorToChuteCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorState;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public class ElevatorToChuteCommand extends Command{
+    private ElevatorSubsystem elevatorSubsystem;
+    public ElevatorToChuteCommand(ElevatorSubsystem elevatorSubsystem){
+        this.addRequirements(elevatorSubsystem);
+        this.elevatorSubsystem = elevatorSubsystem;
+    }
+
+    @Override
+    public void end(boolean interrupted){
+        return;
+    }
+
+    @Override
+    public void execute(){
+        this.elevatorSubsystem.setTargetState(ElevatorState.CHUTE);
+    }
+
+    @Override
+    public boolean isFinished(){
+        if(this.elevatorSubsystem.getState()==ElevatorState.CHUTE){
+            return true;
+        }
+        else return false;
+    }
+}

src/main/java/frc/robot/commands/elevator/ElevatorToGroundCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorState;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public class ElevatorToGroundCommand extends Command{
+    private ElevatorSubsystem elevatorSubsystem;
+    public ElevatorToGroundCommand(ElevatorSubsystem elevatorSubsystem){
+        this.addRequirements(elevatorSubsystem);
+        this.elevatorSubsystem = elevatorSubsystem;
+    }
+
+    @Override
+    public void end(boolean interrupted){
+        return;
+    }
+
+    @Override
+    public void execute(){
+        this.elevatorSubsystem.setTargetState(ElevatorState.GROUND);
+    }
+
+    @Override
+    public boolean isFinished(){
+        if(this.elevatorSubsystem.getState()==ElevatorState.GROUND){
+            return true;
+        }
+        else return false;
+    }
+}

src/main/java/frc/robot/commands/elevator/ElevatorToSpeakerCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorState;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public class ElevatorToSpeakerCommand extends Command{
+    private ElevatorSubsystem elevatorSubsystem;
+    public ElevatorToSpeakerCommand(ElevatorSubsystem elevatorSubsystem){
+        this.addRequirements(elevatorSubsystem);
+        this.elevatorSubsystem = elevatorSubsystem;
+    }
+
+    @Override
+    public void end(boolean interrupted){
+        return;
+    }
+
+    @Override
+    public void execute(){
+        this.elevatorSubsystem.setTargetState(ElevatorState.SPEAKER);
+    }
+
+    @Override
+    public boolean isFinished(){
+        if(this.elevatorSubsystem.getState()==ElevatorState.SPEAKER){
+            return true;
+        }
+        else return false;
+    }
+}

src/main/java/frc/robot/subsystems/Elevator/ElevatorState.java

@@ -0,0 +1,25 @@
+package frc.robot.subsystems.elevator;
+
+import edu.wpi.first.math.util.Units;
+
+import frc.robot.Constants;
+
+public enum ElevatorState {
+    GROUND(Constants.ElevatorConstants.GROUND_POSITION),
+    SPEAKER(Constants.ElevatorConstants.SPEAKER_POSITION),
+    AMP(Constants.ElevatorConstants.AMP_POSITION),
+    CHUTE(Constants.ElevatorConstants.CHUTE_POSITION),
+    TRAP(Constants.ElevatorConstants.TRAP_POSITION),
+    START(Constants.ElevatorConstants.START_POSITION);
+
+    private final double extendDistanceMeters;
+
+    private ElevatorState(double extendDistanceMeters){
+        this.extendDistanceMeters = extendDistanceMeters;
+    }
+
+    public double getExtension(){
+        return this.extendDistanceMeters;
+    }
+
+}