feat: full manual elevator command implemented

Author: Brandon-Harad

src/main/java/org/team1540/robot2024/Constants.java

@@ -119,7 +119,7 @@ public static class Elevator {
         public static final double CLIMBING_HOOKS_MINIMUM_HEIGHT = Units.inchesToMeters(12.0);
         public static final double CLIMBING_HOOKS_MAX_HEIGHT = CLIMBING_HOOKS_MINIMUM_HEIGHT + ELEVATOR_MAX_HEIGHT - ELEVATOR_MINIMUM_HEIGHT;
 
-        public static final double ELEVATOR_GEAR_RATIO = -1;
+        public static final double ELEVATOR_GEAR_RATIO = 1.0;
         public static final int TALON_ID_1 = -1;
         public static final int TALON_ID_2 = -1;
         public static final double KS = 0.25;

src/main/java/org/team1540/robot2024/RobotContainer.java

@@ -12,7 +12,7 @@
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 import org.team1540.robot2024.commands.FeedForwardCharacterization;
 import org.team1540.robot2024.commands.SwerveDriveCommand;
-import org.team1540.robot2024.commands.elevator.ElevatorAnalog;
+import org.team1540.robot2024.commands.elevator.ElevatorManualCommand;
 import org.team1540.robot2024.subsystems.drive.*;
 import org.team1540.robot2024.subsystems.elevator.Elevator;
 import org.team1540.robot2024.subsystems.elevator.ElevatorIO;
@@ -118,7 +118,7 @@ public RobotContainer() {
      */
     private void configureButtonBindings() {
         drivetrain.setDefaultCommand(new SwerveDriveCommand(drivetrain, driver));
-        elevator.setDefaultCommand(new ElevatorAnalog(copilot, elevator));
+        elevator.setDefaultCommand(new ElevatorManualCommand(driver, elevator)); // TODO: change back to copilot
         driver.x().onTrue(Commands.runOnce(drivetrain::stopWithX, drivetrain));
         driver.b().onTrue(
                 Commands.runOnce(

src/main/java/org/team1540/robot2024/commands/elevator/ElevatorAnalog.java src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java

@@ -6,19 +6,19 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
-public class ElevatorAnalog extends Command {
+public class ElevatorManualCommand extends Command {
 
     private final Elevator elevator;
     private final CommandXboxController copilot;
 
-    public ElevatorAnalog(CommandXboxController copilot, Elevator elevator) {
+    public ElevatorManualCommand(CommandXboxController copilot, Elevator elevator) {
         this.elevator = elevator;
         this.copilot = copilot;
         addRequirements(elevator);
     }
 
     @Override
     public void execute() {
-        elevator.setVoltage(copilot.getRightTriggerAxis() + Constants.Elevator.KG);
+        elevator.setVoltage(copilot.getRightTriggerAxis() - copilot.getLeftTriggerAxis() + Constants.Elevator.KG);
     }
 }

src/main/java/org/team1540/robot2024/commands/elevator/ElevatorSetpointCommand.java

@@ -7,10 +7,12 @@
 public class ElevatorSetpointCommand extends Command {
     private final Elevator elevator;
     private final ElevatorState state;
+
     public ElevatorSetpointCommand(Elevator elevator, ElevatorState state) {
         this.elevator = elevator;
         this.state = state;
         addRequirements(elevator);
+        System.out.println("Setting point, get rekt");
     }
     @Override
     public void initialize() {

src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java

@@ -13,6 +13,7 @@ public class Elevator extends SubsystemBase {
 
     public Elevator(ElevatorIO elevatorIO) {
         this.elevatorIO = elevatorIO;
+        setVoltage(10);
     }
 
     // periodic

src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java

@@ -23,7 +23,7 @@ public void updateInputs(ElevatorIOInputs inputs){
         inputs.lowerLimit = elevatorSim.hasHitLowerLimit();
     }
 
-    public void setElevatorAppliedVolts(double volts){
+    public void setVoltage(double volts){
         elevatorAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); //TODO: check this range
         elevatorSim.setInputVoltage(elevatorAppliedVolts);
     }