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.

Properties

ELEVATOR_STATE_KEY

public final static String ELEVATOR_STATE_KEY

Functions

getElevatorPosAvg

public double getElevatorPosAvg()

Get the average position of the elevator motors

getElevatorPosValue

public double getElevatorPosValue(String 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

initializeAlarms

public void initializeAlarms()

moveElevator

public void moveElevator(double velocity)

Move the elevator motor at a specific velocity

moveElevatorToLevel

public void moveElevatorToLevel()

Move the elevator motor to a specific level

periodic

public void periodic()

resetEncoders

public void resetEncoders()

Soft resets the encoders on the elevator motors

setElevatorPosition

public void setElevatorPosition(double pos)

Sets the elevator motor to a specific position

public void setElevatorPosition(double left, double right)

Set the position of the left and right elevator motors

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