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Elevator cleanup #28

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Elevator cleanup #28

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694fe9f
Update Elevator.java
eddywang4340 Mar 9, 2020
5a3656d
Update Constants.java
eddywang4340 Mar 9, 2020
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12 changes: 1 addition & 11 deletions Robot-2020/src/main/java/frc/subsystems/Elevator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,22 +9,17 @@

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.VictorSPX;
import com.revrobotics.CANDigitalInput.LimitSwitch;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.utils.Constants;
import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Ultrasonic;

public class Elevator extends SubsystemBase {
private VictorSPX motorcontroller;
private Ultrasonic ultra;
DigitalInput limitSwitch = new DigitalInput(Constants.DIO_ELEVATOR);
Counter counter = new Counter(limitSwitch);

public Elevator() {
motorcontroller = new VictorSPX(Constants.CAN_ELEVATOR); //TODO: Find a CAN ID for the Elevator
motorcontroller = new VictorSPX(Constants.CAN_ELEVATOR);
motorcontroller.configOpenloopRamp(0);
ultra = new Ultrasonic(7, 6);
ultra.setAutomaticMode(true);
Expand All @@ -39,7 +34,6 @@ public boolean isBallIn(){
if (ultra.getRangeInches() < 3) {
return true;
}

return false;
}

Expand All @@ -52,19 +46,15 @@ public void startMotorGated() {
motorcontroller.set(ControlMode.PercentOutput, 0.0);
return;
}

motorcontroller.set(ControlMode.PercentOutput, 0.2);
// System.out.print("ELEVATOR ACTIVE");
}

public void stopMotor() {
motorcontroller.set(ControlMode.PercentOutput, 0);
// System.out.print("ELEVATOR OFF");
}

@Override
public void periodic() {
// This method will be called once per scheduler run
// System.out.println(ultra.getRangeInches());
}
}
1 change: 0 additions & 1 deletion Robot-2020/src/main/java/frc/utils/Constants.java
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Expand Up @@ -38,7 +38,6 @@ public class Constants {
public static final int DIO_CLIMB_ENC_CHN_A = 0;
public static final int DIO_CLIMB_ENC_CHN_B = 1;
public static final int DIO_CLIMB_LIMIT = 3;
public static final int DIO_ELEVATOR = 4;


}