Elevator Subsystem

[aidan-underwood]

This subsystem will need to include:

• Encoders for elevator status

Possible but likely functions include:

• Move elevator (to move elevator to our goal)
• Elevator rotation (to get the elevator's rotation)

We will also need to know these different positions either using a REV Through Bore Encoder or canCoder. These positions include:

• Pole 2 / Block State 2 (When attempting to place cone / cube in the top section of the grid)
• Pole 1 / Block State 1 (When attempting to place cone / cube in the middle section of the grid)
• Ground (When resting out and ready to grab objects off of floor)
• Stored (When pushed inside of robot before match start)

Will need PID. https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html REV API Docs: https://codedocs.revrobotics.com/java/allclasses.html

[aidan-underwood]

a somewhat good example? https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java