start elevator --- carson and max c

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

@@ -73,6 +73,7 @@ public RobotContainer() {
       }
 
       case SIM -> {
+
         /* Sim robot, instantiate physics sim IO implementations */
 
         /* create simulations */

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

@@ -1,11 +1,14 @@
-/** This subsystem is an elevator that uses PID for its position. */
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
 package frc.robot.subsystems.elevator;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.littletonrobotics.junction.Logger;
 
 public class Elevator extends SubsystemBase {
-  /** Creates a new Elevator. */
+  /** Creates a new elevator. */
   private ElevatorInterface elevatorInterface;
 
   private ElevatorInputsAutoLogged inputs = new ElevatorInputsAutoLogged();
@@ -32,7 +35,6 @@ public void setVolts(double volts) {
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
     elevatorInterface.updateInputs(inputs);
     Logger.processInputs("Elevator/", inputs);
   }

src/main/java/frc/robot/subsystems/elevator/ElevatorInterface.java

@@ -1,28 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
 package frc.robot.subsystems.elevator;
 
 import org.littletonrobotics.junction.AutoLog;
 
 public interface ElevatorInterface {
-
+  /** Creates a new ElevatorInterface. */
   @AutoLog
-  public static class ElevatorInputs {
-    public double leaderMotorPosition = 0.0;
-
-    public double followerMotorPosition = 0.0;
+  public static class ElevatorInputs { // For values
+    public double rightMotorPosition = 0.0;
+    public double leftMotorPosition = 0.0;
   }
 
-  /**
-   * Updates inputs for elevator for AdvantageKit to log
-   *
-   * @param inputs values related to the elevator
-   */
   public default void updateInputs(ElevatorInputs inputs) {}
 
-  /**
-   * Gets the current position of the elevator
-   *
-   * @return
-   */
   public default double getElevatorPosition() {
     return 0.0;
   }

src/main/java/frc/robot/subsystems/elevator/PhysicalElevator.java

@@ -1,61 +1,13 @@
-package frc.robot.subsystems.elevator;
-
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.hardware.TalonFX;
-import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.Voltage;
-import frc.robot.subsystems.elevator.ElevatorInterface.ElevatorInputs;
-
-/** Add your docs here. */
-public class PhysicalElevator {
-  private TalonFX leaderMotor = new TalonFX(ElevatorConstants.ELEVATOR_LEADER_MOTOR_ID);
-  private TalonFX followerMotor = new TalonFX(ElevatorConstants.ELEVATOR_FOLLOWER_MOTOR_ID);
-
-  StatusSignal<Angle> leaderPosition;
-  StatusSignal<Angle> followerPosition;
-
-  StatusSignal<Voltage> leaderAppliedVoltage;
-  StatusSignal<Voltage> followerAppliedVoltage;
-
-  public PhysicalElevator() {
-    leaderPosition = leaderMotor.getRotorPosition();
-    followerPosition = followerMotor.getRotorPosition();
-
-    leaderAppliedVoltage = leaderMotor.getMotorVoltage();
-    followerAppliedVoltage = followerMotor.getMotorVoltage();
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
-    TalonFXConfiguration elevatorConfig = new TalonFXConfiguration();
-
-    elevatorConfig.Slot0.kP = ElevatorConstants.ELEVATOR_P;
-    elevatorConfig.Slot0.kI = ElevatorConstants.ELEVATOR_I;
-    elevatorConfig.Slot0.kD = ElevatorConstants.ELEVATOR_D;
-
-    leaderMotor.getConfigurator().apply(elevatorConfig);
-    followerMotor.getConfigurator().apply(elevatorConfig);
-  }
-
-  public void updateInputs(ElevatorInputs inputs) {
-    inputs.leaderMotorPosition = leaderPosition.getValueAsDouble();
-    inputs.followerMotorPosition = followerPosition.getValueAsDouble();
-  }
-
-  public double getElevatorPosition() {
-    return leaderPosition.getValueAsDouble();
-  }
-
-  public void setElevatorPosition(double position) {
-    leaderMotor.setPosition(position);
-    followerMotor.setPosition(position);
-  }
+package frc.robot.subsystems.elevator;
 
-  public void setVolts(double volts) {
-    leaderMotor.setVoltage(volts);
-    followerMotor.setVoltage(volts);
-    ;
-  }
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-  public double getVolts() {
-    return leaderMotor.getMotorVoltage().getValueAsDouble();
-  }
+public class PhysicalElevator implements ElevatorInterface {
+  /** Creates a new ElevatorHardware. */
+  public PhysicalElevator() {}
+
 }

src/main/java/frc/robot/subsystems/elevator/SimulatedElevator.java

@@ -1,51 +1,17 @@
-package frc.robot.subsystems.elevator;
-
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.simulation.ElevatorSim;
-
-/** Add your docs here. */
-public class SimulatedElevator implements ElevatorInterface {
-  private ElevatorSim elevatorSim =
-      new ElevatorSim(
-          DCMotor.getFalcon500(2),
-          ElevatorConstants.ELEVATOR_GEAR_RATIO,
-          ElevatorConstants.ELEVATOR_CARRIAGE_MASS,
-          ElevatorConstants.DRUM_RADIUS,
-          ElevatorConstants.MIN_HEIGHT,
-          ElevatorConstants.MAX_HEIGHT,
-          true,
-          0.0);
-  private PIDController simPID;
-  private double currentVolts;
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
-  public SimulatedElevator() {
-    simPID =
-        new PIDController(
-            ElevatorConstants.ELEVATOR_P,
-            ElevatorConstants.ELEVATOR_I,
-            ElevatorConstants.ELEVATOR_D);
-  }
-
-  public void updateInputs(ElevatorInputs inputs) {
-    inputs.leaderMotorPosition = getElevatorPosition();
-    inputs.followerMotorPosition = getElevatorPosition();
-  }
+package frc.robot.subsystems.elevator;
 
-  public void setElevatorPosition(double position) {
-    setVolts(simPID.calculate(getElevatorPosition(), position));
-  }
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-  public double getElevatorPosition() {
-    return elevatorSim.getPositionMeters();
-  }
-
-  public void setVolts(double volts) {
-    currentVolts = simPID.calculate(volts);
-    elevatorSim.setInputVoltage(currentVolts);
-  }
+public class SimulatedElevator extends SubsystemBase {
+  /** Creates a new ElevatorSimulation. */
+  public SimulatedElevator() {}
 
-  public double getVolts() {
-    return currentVolts;
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
   }
 }