Elevator mech

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 java {

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

@@ -15,5 +15,13 @@
 public final class Constants {
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
+
+    public static final int leftelevator = 6;
+    public static final int limitSwitch = 9;
+
+    public static final int elevatorP = 0;
+    public static final int elevatorI = 0;
+    public static final int elevatorD =0;
+
   }
 }

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

@@ -6,28 +6,40 @@
 
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.ElevatorSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ConditionalCommand;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
+
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
+
+  private double upPosition;
   // The robot's subsystems and commands are defined here...
   private final DriveSubsystem driveSubsystem;
+  private final ElevatorSubsystem elevatorSubsystem;
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final CommandXboxController driverController =
       new CommandXboxController(OperatorConstants.kDriverControllerPort);
+
+  private final CommandXboxController mechController=  new CommandXboxController(0);
+  private Trigger rightBumper = mechController.rightBumper();
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     driveSubsystem = new DriveSubsystem();
+    elevatorSubsystem = new ElevatorSubsystem();
+
     // Configure the trigger bindings
     configureBindings();
   }
@@ -42,10 +54,24 @@ public RobotContainer() {
    * joysticks}.
    */
   private void configureBindings() {
-    driveSubsystem.setDefaultCommand(new RunCommand(() -> {
-      driveSubsystem.setDrivePowers(driverController.getLeftY(), driverController.getRightY());
-    }, driveSubsystem));
+    // driveSubsystem.setDefaultCommand(new RunCommand(() -> {
+    //   driveSubsystem.setDrivePowers(driverController.getLeftY(), driverController.getRightY());
+    // }, driveSubsystem));
+
+    rightBumper.onTrue( 
+      new ConditionalCommand( 
+        new InstantCommand(()-> elevatorSubsystem.setElevatorState(upPosition)), 
+        new InstantCommand(()-> elevatorSubsystem.setElevatorState(0)),
+        ()->elevatorSubsystem.atFloor()
+        )
+      );
+
+    elevatorSubsystem.setDefaultCommand(new InstantCommand( () -> {
+      elevatorSubsystem.setPower(mechController.getLeftTriggerAxis()-mechController.getRightTriggerAxis());
+    }));
+
 
+
   }
 
   /**

src/main/java/frc/robot/subsystems/ElevatorSubsystem.java

@@ -0,0 +1,65 @@
+package frc.robot.subsystems;
+
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.OperatorConstants;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkBase;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.SparkPIDController;
+
+import edu.wpi.first.math.proto.System;
+import edu.wpi.first.wpilibj.DigitalInput;
+
+public class ElevatorSubsystem extends SubsystemBase{
+    private CANSparkMax leftelevator;
+    private SparkPIDController elevatorpid;
+    private DigitalInput limitSwitch;
+    private RelativeEncoder encoder;
+
+
+
+    public ElevatorSubsystem (){
+        leftelevator = new CANSparkMax (OperatorConstants.leftelevator, MotorType.kBrushless);       
+        elevatorpid = leftelevator.getPIDController();
+        limitSwitch = new DigitalInput (OperatorConstants.limitSwitch);
+        encoder = leftelevator.getEncoder();
+        encoder.setPosition(0);
+
+        elevatorpid.setP(OperatorConstants.elevatorP);
+        elevatorpid.setI(OperatorConstants.elevatorI);
+        elevatorpid.setD(OperatorConstants.elevatorD);
+    }
+
+    public void setElevatorState(double state){
+
+        elevatorpid.setReference(state, CANSparkBase.ControlType.kPosition);
+    } 
+
+    public boolean atFloor(){
+
+        return limitSwitch.get();
+    }
+
+    public double position(){
+        return encoder.getPosition();
+    }
+
+    public void resetEncoder(){
+        encoder.setPosition(0);
+    }
+
+    public void setPower(double speed) {
+        leftelevator.set(speed);
+    }
+
+    @Override
+    public void periodic() {
+        if (atFloor()){
+            resetEncoder();
+        }
+    }
+}

vendordeps/REVLib.json

@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}