From 27a25739eaa8b7d0c3bd69dcd4450d1e8f94b1fa Mon Sep 17 00:00:00 2001
From: nbhog <146785661+nbhog@users.noreply.github.com>
Date: Wed, 17 Jan 2024 19:01:38 -0500
Subject: [PATCH] started hardware code

---
 .../robot2023/config/constants/ElevatorConstants.kt    |  3 +++
 .../robot2023/subsystems/elevator/ElevatorIOKraken.kt  | 10 +++++++++-
 2 files changed, 12 insertions(+), 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
index 5857342a..4c27e1d5 100644
--- 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
 }
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt
index 67de1ff8..984c3bda 100644
--- 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)
 }
\ No newline at end of file