Jonathan

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

@@ -22,6 +22,7 @@ public static class Elevator{
         public static final Boolean VOLT = true;
         public static final int SAT = 12;
         public static final double TICKS_PER_METER = 2048/(Math.PI*Math.PI*0.066/10);
+        public static final double OFFSET = 0.03;
     }
 
 }

src/main/java/frc/robot/Main.java

@@ -15,15 +15,15 @@
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+    private Main() {
+    }
 
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
+    /**
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
+    public static void main(String... args) {
+        RobotBase.startRobot(Robot::new);
+    }
 }

src/main/java/frc/robot/Ports.java

@@ -4,14 +4,8 @@
 import com.ctre.phoenix.motorcontrol.can.TalonFX;
 
 public class Ports {
-    public static class Gripper {
-        public static final int LEFTMOTOR = 0;
-        public static final int RIGHTMOTOR = 0;
-        public static final int SOLENOID = 0;
 
-        public static final boolean RIGHT_MOTOR_INVERTED = false;
-        public static final boolean LEFT_MOTOR_INVERTED = false;
-    }
+
     public static class Controller {
         public static final int XBOX_CONTROLLER = 0;
     }

src/main/java/frc/robot/Robot.java

@@ -18,95 +18,95 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private Command m_autonomousCommand;
-  private RobotContainer m_robotContainer;
+    private Command m_autonomousCommand;
+    private RobotContainer m_robotContainer;
 
-  /**
-   * This function is run when the robot is first started up and should be used for any
-   * initialization code.
-   */
-  @Override
-  public void robotInit() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-    // autonomous chooser on the dashboard.
-    m_robotContainer = new RobotContainer();
-  }
+    /**
+     * This function is run when the robot is first started up and should be used for any
+     * initialization code.
+     */
+    @Override
+    public void robotInit() {
+        // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+        // autonomous chooser on the dashboard.
+        m_robotContainer = new RobotContainer();
+    }
 
-  /**
-   * This function is called every robot packet, no matter the mode. Use this for items like
-   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
-   */
-  @Override
-  public void robotPeriodic() {
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-    // block in order for anything in the Command-based framework to work.
-    CommandScheduler.getInstance().run();
-  }
+    /**
+     * This function is called every robot packet, no matter the mode. Use this for items like
+     * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+     *
+     * <p>This runs after the mode specific periodic functions, but before
+     * LiveWindow and SmartDashboard integrated updating.
+     */
+    @Override
+    public void robotPeriodic() {
+        // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
+        // commands, running already-scheduled commands, removing finished or interrupted commands,
+        // and running subsystem periodic() methods.  This must be called from the robot's periodic
+        // block in order for anything in the Command-based framework to work.
+        CommandScheduler.getInstance().run();
+    }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
-  @Override
-  public void disabledInit() {
-  }
+    /**
+     * This function is called once each time the robot enters Disabled mode.
+     */
+    @Override
+    public void disabledInit() {
+    }
 
-  @Override
-  public void disabledPeriodic() {
-  }
+    @Override
+    public void disabledPeriodic() {
+    }
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
-  @Override
-  public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    /**
+     * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+     */
+    @Override
+    public void autonomousInit() {
+        m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
-    // schedule the autonomous command (example)
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+        // schedule the autonomous command (example)
+        if (m_autonomousCommand != null) {
+            m_autonomousCommand.schedule();
+        }
     }
-  }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
-  @Override
-  public void autonomousPeriodic() {
-  }
+    /**
+     * This function is called periodically during autonomous.
+     */
+    @Override
+    public void autonomousPeriodic() {
+    }
 
-  @Override
-  public void teleopInit() {
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
+    @Override
+    public void teleopInit() {
+        // This makes sure that the autonomous stops running when
+        // teleop starts running. If you want the autonomous to
+        // continue until interrupted by another command, remove
+        // this line or comment it out.
+        if (m_autonomousCommand != null) {
+            m_autonomousCommand.cancel();
+        }
     }
-  }
 
-  /**
-   * This function is called periodically during operator control.
-   */
-  @Override
-  public void teleopPeriodic() {
-  }
+    /**
+     * This function is called periodically during operator control.
+     */
+    @Override
+    public void teleopPeriodic() {
+    }
 
-  @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
-    CommandScheduler.getInstance().cancelAll();
-  }
+    @Override
+    public void testInit() {
+        // Cancels all running commands at the start of test mode.
+        CommandScheduler.getInstance().cancelAll();
+    }
 
-  /**
-   * This function is called periodically during test mode.
-   */
-  @Override
-  public void testPeriodic() {
-  }
+    /**
+     * This function is called periodically during test mode.
+     */
+    @Override
+    public void testPeriodic() {
+    }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -7,30 +7,37 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.subsystems.Elevator.Elevator;
+import frc.robot.subsystems.Elevator.JoystickPower;
 import frc.robot.subsystems.gripper.Gripper;
 import frc.robot.subsystems.gripper.commands.Intake;
 import frc.robot.subsystems.gripper.commands.Outtake;
 
-import static frc.robot.Ports.Controller.*;
+import static frc.robot.Ports.Controller.XBOX_CONTROLLER;
 
 public class RobotContainer {
-    private final XboxController Xbox = new XboxController(XBOX_CONTROLLER);
-    private final Trigger lt = new Trigger(() -> Xbox.getTriggerAxis(GenericHID.Hand.kLeft) > 0.3);
-    private final Trigger rt = new Trigger(() -> Xbox.getTriggerAxis(GenericHID.Hand.kRight) > 0.3);
-    private final JoystickButton lb = new JoystickButton(Xbox, XboxController.Button.kBumperLeft.value);
-    private final JoystickButton rb = new JoystickButton(Xbox, XboxController.Button.kBumperRight.value);
+    private final XboxController xbox = new XboxController(XBOX_CONTROLLER);
+    private final Trigger lt = new Trigger(() -> xbox.getLeftTriggerAxis() > 0.3);
+    private final Trigger rt = new Trigger(() -> xbox.getRightTriggerAxis() > 0.3);
+    private final JoystickButton lb = new JoystickButton(xbox, XboxController.Button.kLeftBumper.value);
+    private final JoystickButton rb = new JoystickButton(xbox, XboxController.Button.kRightBumper.value);
     private final Gripper gripper = Gripper.getInstance();
+    private final Elevator elevator = Elevator.getInstance();
 
 
     public RobotContainer() {
         configureButtonBindings();
+<<<<<<< HEAD
+=======
+
+        elevator.setDefaultCommand(new JoystickPower(elevator, ()->xbox.getRightY()));
+>>>>>>> parent of 86ddd8e... Merge pull request #5 from Galaxia5987/Jonathan
     }
+
     //robot will intake when left trigger is held and outtake while right trigger is held
     private void configureButtonBindings() {
         lt.whileActiveContinuous(new Intake(gripper, 1));