fix: addressed comments from Reviewers (setPositionMeters method name…

… and lowering elevator after scoring in trap) Co-authored-by: Luna <[email protected]>
flamingchickens1540 · Feb 4, 2024 · 9577b9d · 9577b9d
1 parent 8120e58
commit 9577b9d
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Showing 6 changed files with 25 additions and 26 deletions.
diff --git a/src/main/java/org/team1540/robot2024/commands/climb/TrapAndClimbSequence.java b/src/main/java/org/team1540/robot2024/commands/climb/TrapAndClimbSequence.java
@@ -20,8 +20,7 @@ public TrapAndClimbSequence(Elevator elevator, Hooks hooks, Tramp tramp) {
                 new ParallelDeadlineGroup(
                         new WaitCommand(Constants.Tramp.TRAP_SCORING_TIME_SECONDS),
                         new ScoreInTrap(tramp) //TODO: Do whatever to this but not my job
-                ),
-                new ElevatorSetpointCommand(elevator, ElevatorState.BOTTOM)
+                )
         );
     }
 }
diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java
@@ -16,43 +16,43 @@
 import static org.team1540.robot2024.Constants.Elevator.*;
 
 public class Elevator extends SubsystemBase {
-    private final ElevatorIO io;
-    private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
-    private final AverageFilter positionFilter = new AverageFilter(10);
+    private final ElevatorIO elevatorIO;
+    private final ElevatorIOInputsAutoLogged elevatorInputs = new ElevatorIOInputsAutoLogged();
+    private final AverageFilter elevatorPositionFilter = new AverageFilter(10);
     private double setpointMeters;
 
 
     public Elevator(ElevatorIO elevatorIO) {
-        this.io = elevatorIO;
+        this.elevatorIO = elevatorIO;
     }
 
     // periodic
     public void periodic(){
-        io.updateInputs(inputs);
-        Logger.processInputs("Elevator", inputs);
-        MechanismVisualiser.setElevatorPosition(inputs.positionMeters);
+        elevatorIO.updateInputs(elevatorInputs);
+        Logger.processInputs("Elevator", elevatorInputs);
+        MechanismVisualiser.setElevatorPosition(elevatorInputs.positionMeters);
 
-        positionFilter.add(inputs.positionMeters);
+        elevatorPositionFilter.add(elevatorInputs.positionMeters);
     }
 
-    public void setElevatorPosition(double positionMeters) {
-        positionMeters = MathUtil.clamp(positionMeters, Constants.Elevator.ELEVATOR_MINIMUM_HEIGHT, Constants.Elevator.ELEVATOR_MAX_HEIGHT);
-        setpointMeters = positionMeters;
-        io.setPositionMeters(setpointMeters);
+    public void goToSetpoint(double newSetpointMeters) {
+        newSetpointMeters = MathUtil.clamp(newSetpointMeters, Constants.Elevator.ELEVATOR_MINIMUM_HEIGHT, Constants.Elevator.ELEVATOR_MAX_HEIGHT);
+        setpointMeters = newSetpointMeters;
+        elevatorIO.setSetpointMeters(setpointMeters);
 
-        positionFilter.clear();
+        elevatorPositionFilter.clear();
     }
 
     public boolean isAtSetpoint() {
-        return MathUtil.isNear(setpointMeters, positionFilter.getAverage(), ERROR_TOLERANCE);
+        return MathUtil.isNear(setpointMeters, elevatorPositionFilter.getAverage(), ERROR_TOLERANCE);
     }
 
     public void setVoltage(double voltage) {
-        io.setVoltage(voltage);
+        elevatorIO.setVoltage(voltage);
     }
 
     public void stop() {
-        io.setVoltage(0.0);
+        elevatorIO.setVoltage(0.0);
     }
 
     @AutoLogOutput

diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIO.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIO.java
@@ -15,7 +15,7 @@ class ElevatorIOInputs {
 
     default void updateInputs(ElevatorIOInputs inputs) {}
 
-    default void setPositionMeters(double position) {}
+    default void setSetpointMeters(double position) {}
 
     default void setVoltage(double voltage) {}
 }

diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java
@@ -56,7 +56,7 @@ public void setVoltage(double volts) {
         elevatorAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);
     }
     @Override
-    public void setPositionMeters(double position) {
+    public void setSetpointMeters(double position) {
         isClosedLoop = true;
         setpoint = new TrapezoidProfile.State(position, 0.0);
     }

diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOTalonFX.java
@@ -90,7 +90,7 @@ public void updateInputs(ElevatorIOInputs inputs) {
     }
 
     @Override
-    public void setPositionMeters(double positionMeters) {
+    public void setSetpointMeters(double positionMeters) {
         leader.setControl(motionMagicOut.withPosition(positionMeters));
     }
 

diff --git a/vendordeps/photonlib-json-1.0.json b/vendordeps/photonlib-json-1.0.json
@@ -1,7 +1,7 @@
 {
   "fileName": "photonlib.json",
   "name": "photonlib",
-  "version": "v2024.2.2",
+  "version": "v2024.2.3",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
   "frcYear": "2024",
   "mavenUrls": [
@@ -14,7 +14,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-cpp",
-      "version": "v2024.2.2",
+      "version": "v2024.2.3",
       "libName": "photonlib",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -29,7 +29,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2024.2.2",
+      "version": "v2024.2.3",
       "libName": "photontargeting",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -46,12 +46,12 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-java",
-      "version": "v2024.2.2"
+      "version": "v2024.2.3"
     },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-java",
-      "version": "v2024.2.2"
+      "version": "v2024.2.3"
     }
   ]
 }