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index 0000000..e69de29 From 5f7d5f6b5537bf18edd3d7f660666689398c1e86 Mon Sep 17 00:00:00 2001 From: Arman1291 Date: Thu, 11 Dec 2025 15:23:32 -0500 Subject: [PATCH 3/4] ehgfdgshfd --- .gradle/8.11/checksums/checksums.lock | Bin 17 -> 17 bytes .gradle/8.11/checksums/md5-checksums.bin | Bin 70565 -> 71065 bytes .gradle/8.11/checksums/sha1-checksums.bin | Bin 111152 -> 111692 bytes .gradle/8.11/fileHashes/fileHashes.bin | Bin 126233 -> 126283 bytes .gradle/8.11/fileHashes/fileHashes.lock | Bin 17 -> 17 bytes 5 files changed, 0 insertions(+), 0 deletions(-) diff --git a/.gradle/8.11/checksums/checksums.lock b/.gradle/8.11/checksums/checksums.lock index 3c6c302f7519b1fd046e3c52b9049b0cebe9ccb8..5047ae4b32e99d39e31e54c46ca500bcf0cb4bf4 100644 GIT binary patch literal 17 UcmZR!;1`fOlKP050Sq|p0Ue$K%K!iX literal 17 UcmZR!;1`fOlKP050Sq|R0Ud?{vj6}9 diff --git a/.gradle/8.11/checksums/md5-checksums.bin b/.gradle/8.11/checksums/md5-checksums.bin index 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8eb68623db8ca2b8d1ae27fb279d70e3f242ce32..3e59d63cbac5bdf82334763f5c54700f5b901bf6 100644 GIT binary patch delta 104 zcmbPvi~aO1_J%Et>N$)i+ck0+89Di@{ntH6?f%RF0*r4Zw=0w~-WF#3xKU9-c)Q6Q y#-{;B#y}ZOAXWrnfm>aN9oOf5pSEmkNrm%X?cYFMv-t%=Hv%Prz*P)L=m7u|cpqZ` delta 42 zcmV+_0M-A?+6S512Y|EzCu{*Twe08Gdn26B{1~8Dm4FEhx1&sgz literal 17 VcmZQ>e08Gdn26B{1~8Dm0RTKi1&ROw From e33183b02979dc47f549ad8b3180414c241f6df3 Mon Sep 17 00:00:00 2001 From: Arman1291 Date: Thu, 11 Dec 2025 16:51:31 -0500 Subject: [PATCH 4/4] partial io need profiledPID --- .../robot/subsystems/elevator/Elevator.java | 35 +++++++++++++++++++ .../elevator/ElevatorConstants.java | 5 +++ .../robot/subsystems/elevator/ElevatorIO.java | 32 +++++++++++++++++ .../subsystems/elevator/ElevatorIOSim.java | 5 +++ .../elevator/ElevatorIOSparkMax.java | 8 +++++ 5 files changed, 85 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java create mode 100644 src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java create mode 100644 src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java create mode 100644 src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java index e69de29..1c46892 100644 --- a/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -0,0 +1,35 @@ +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import java.util.function.Supplier; + +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj2.command.Command; + + + + +public class Elevator extends SubsystemBase{ + private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged(); + + + +private final ElevatorIO io; + +@Override +public void periodic() { + ElevatorIO.updateInputs(ElevatorInputs); +} + +public Command runVoltageCommand(Supplier voltage) { + return run(() -> ElevatorIO.setVoltage(voltage.get())).withName("Voltage"); + } + + public Command runRPMCommand(Supplier rpm) { + return run(() -> ElevatorIO.setRPM(rpm.get())).withName("RPM"); + } + + + + +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java new file mode 100644 index 0000000..f2c4125 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -0,0 +1,5 @@ +package frc.robot.subsystems.elevator; + +public class ElevatorConstants { + +} diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java new file mode 100644 index 0000000..60506fa --- /dev/null +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java @@ -0,0 +1,32 @@ +package frc.robot.subsystems.elevator; +import java.util.function.DoubleSupplier; + +import org.littletonrobotics.junction.AutoLog; + +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Voltage; +//motor is neos +public interface ElevatorIO { + @AutoLog + + public static class ElevatorIOInputs { + //public Voltage + public boolean limitSwitchPressed = false; + } + + default void setVoltage(Double Voltage){} + default double getVoltage() { + return 67.5; + } + ProfiledPIDController controller = new ProfiledPIDController( + kP, kI, kD, + new TrapezoidProfile.Constraints(MaxVelocity, MaxAcceleration)); + + default void updateInputs(ElevatorIOInputs inputs) {} + default void setPIDGains(double kP, double kI, double kD) {} + default void setRPM(double rpm){} + default void setFeedForwardGains(double kS, double kV, double kA) {} +} diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java new file mode 100644 index 0000000..f9696af --- /dev/null +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java @@ -0,0 +1,5 @@ +package frc.robot.subsystems.elevator; + +public class ElevatorIOSim { + +} diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java new file mode 100644 index 0000000..7393c5f --- /dev/null +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax.java @@ -0,0 +1,8 @@ +package frc.robot.subsystems.elevator; + +import edu.wpi.first.math.controller.ProfiledPIDController; + +public class ElevatorIOSparkMax { + private ProfiledPIDController pidController = + new ProfiledPIDController( +}