Reefscape2025/frc.robot.subsystems/Elevator

Elevator

public class Elevator extends SubsystemBase

The ElevatorSubsystem class is a Singleton to control the elevator motors on the robot. The class sets the motor positions, gets the motor positions, stops the motors, and toggles the soft stop for the elevator motor.

Functions

applyElevatorPIDValues

public void applyElevatorPIDValues()

Applies the PID values to the elevator motors.

calibrateElevator

public void calibrateElevator()

Calibrates the elevator motor.

getElevatorPosAvg

public double getElevatorPosAvg()

Get the average position of the elevator motors

getElevatorPosValue

public double getElevatorPosValue(ElevatorMotor motor)

Get the position of the elevator motor

getInstance

public static Elevator getInstance()

Returns the Singleton instance of this ElevatorSubsystem.

getState

public ElevatorState getState()

Get the state of the elevator motor

getStateDouble

public double getStateDouble()

Gets the state of the elevator motor as a double in terms of its height in the parameters file

initizalizeLoggedNetworkPID

public void initizalizeLoggedNetworkPID()

moveElevator

public void moveElevator(double speed)

Move the elevator motor at a specific velocity

periodic

public void periodic()

resetEncoders

public void resetEncoders()

Soft resets the encoders on the elevator motors

setElevatorPosition

public void setElevatorPosition(ElevatorState state)

Sets the elevator motor to a specific position

setState

public void setState(ElevatorState currentState)

Sets the elevator state

stopMotors

public void stopMotors()

Stops the elevator motors

toggleSoftStop

public void toggleSoftStop()

Toggles the soft stop for the elevator motor

updateElevatorPID

public void updateElevatorPID()

Updates the PID values for the elevator motors.