Merge branch 'Group_3' of https://github.com/FRC1257/Subsystem-Development into Group_3

Author: Arman1291

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

@@ -25,43 +25,7 @@ public static class ElevatorIOInputs {
 
 
     default void updateInputs(ElevatorIOInputs inputs) {}
-
-    // Getter method for target height
-    default double getSetpoint() {
-        return 0.0;
-    }
-   
-    // Getter method for current position
-    default double getPosition() {
-        return 0.0;
-    }
-
-    // Getter method for velocity
-    default double getVelocity(){
-        return 0.0;
-    }
-
-    // Checking if elevator goes above limit height
-    default boolean isLimitSwitchPressed() {
-        return false;
-    }
-
-
-    // Subsystem API (Used by commands)
-   
-    
-    // The target height in meters
-    default void setSetpoint(double setpoint) {}
-
-    // Profiled PID to go to setpoint
-    public default void goToSetpoint() {}
-
-    // Returns true if elevator at setpoint
-    public default boolean atSetpoint() {
-        return false;
-      }
-
-    // Setter for voltage 
-    default void setVoltage(double voltage) {}
-
-    }
+    default void setPIDGains(double kP, double kI, double kD) {}
+    default void setRPM(double rpm){}
+    default void setFeedForwardGains(double kS, double kV, double kA) {}
+}

src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax

@@ -0,0 +1,6 @@
+public class ElevatorIOSparkMax implements ElevatorIO {
+// Profiled PID
+private ProfiledPIDController controller = new ProfiledPIDController(
+  kP, kI, kD,
+  new TrapezoidProfile.Constraints(MaxVelocity, MaxAcceleration));
+}