Merge pull request #15 from Creekside7688/elevator

Elevator
Creekside7688 · Feb 4, 2024 · 98dd30c · 98dd30c
2 parents 0e56a1c + 0a87153
commit 98dd30c
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Showing 3 changed files with 45 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -27,5 +27,6 @@ public class ElevatorConstants {
     public static final double MAX_ACCELERATION = 1.0;
 
     public static final double MAX_HEIGHT = 28.0;
+    public static final double TARGET_HEIGHT = 28.0;
     public static final double TOLERANCE = 0.1;
 }
diff --git a/...ot/elevator/commands/ElevatorCommand.java → ...robot/elevator/commands/ElevatorDown.java b/...ot/elevator/commands/ElevatorCommand.java → ...robot/elevator/commands/ElevatorDown.java
@@ -3,12 +3,18 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.elevator.Elevator;
 
-public class ElevatorCommand extends Command {
-    public ElevatorCommand(Elevator elevator) {
+public class ElevatorDown extends Command {
+
+    private final Elevator elevator;
+
+    public ElevatorDown(Elevator elevator) {
+        this.elevator = elevator;
+        addRequirements(elevator);
     }
 
     @Override
     public void initialize() {
+        elevator.setHeight(0);
     }
 
     @Override
@@ -17,10 +23,11 @@ public void execute() {
 
     @Override
     public void end(boolean interrupted) {
+
     }
 
     @Override
     public boolean isFinished() {
-        return false;
+        return elevator.atGoal();
     }
-}
+}
diff --git a/src/main/java/frc/robot/elevator/commands/ElevatorUp.java b/src/main/java/frc/robot/elevator/commands/ElevatorUp.java
@@ -0,0 +1,33 @@
+package frc.robot.elevator.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.elevator.Elevator;
+import frc.robot.constants.ElevatorConstants;
+
+public class ElevatorUp extends Command {
+
+    private final Elevator elevator;
+
+    public ElevatorUp(Elevator elevator) {
+        this.elevator = elevator;
+        addRequirements(elevator);
+    }
+
+    @Override
+    public void initialize() {
+        elevator.setHeight(ElevatorConstants.TARGET_HEIGHT);
+    }
+
+    @Override
+    public void execute() {
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+    }
+
+    @Override
+    public boolean isFinished() {
+        return elevator.atGoal();
+    }
+}