started hardware code

team4099 · Jan 18, 2024 · 27a2573 · 27a2573
1 parent f5faca7
commit 27a2573
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Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt
@@ -43,4 +43,7 @@ object ElevatorConstants {
     val HOMING_STALL_TIME_THRESHOLD = 0.0.seconds
     val HOMING_APPLIED_VOLTAGE = 0.0.volts
     val ELEVATOR_GROUND_OFFSET = 0.0.inches
+
+    val LEADER_VOLTAGE = 0.0.volts
+    val LEADER_GEAR_RATIO = 0.0
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt
@@ -1,4 +1,12 @@
 package com.team4099.robot2023.subsystems.elevator
 
-object ElevatorIOKraken {
+import com.ctre.phoenix6.hardware.TalonFX
+import com.team4099.robot2023.config.constants.Constants
+import com.team4099.robot2023.config.constants.ElevatorConstants
+import org.team4099.lib.units.ctreLinearMechanismSensor
+
+object ElevatorIOKraken: ElevatorIO {
+    private val elevatorLeaderKraken = TalonFX(Constants.Elevator.LEADER_MOTOR_ID)
+    private val elevatorFollowerKraken = TalonFX(Constants.Elevator.FOLLOWER_MOTOR_ID)
+    private val leaderSensor = ctreLinearMechanismSensor(elevatorLeaderKraken, ElevatorConstants.LEADER_GEAR_RATIO, ElevatorConstants.LEADER_VOLTAGE)
 }