Callum & Kavin - Elevator partially working on test board

src/main/cpp/HAL/Elevator.cpp

@@ -11,12 +11,12 @@ Elevator::Elevator()
     std::cout << "configured elevator motors" << std::endl;
 }
 
-void Elevator::ProfiledMoveToHeight(int shelfNumber)
+void ProfiledMoveToHeight(int shelfNumber)
 {
     // TODO - implement profiled move semantics
     std::cout << "elevator performing profiled move to " << shelfNumber << std::endl;
     // move elevator to (shelfNumber*15) inches
-    shelfCurrent = shelfNumber;
+    //shelfCurrent = shelfNumber;
 }
 
 double Elevator::GetHeight()
@@ -34,6 +34,15 @@ double Elevator::GetHeight()
 // }
 void Elevator::ProfiledMoveToHeight(bool direction) 
 {
+    if(direction) {
+        m_elevatorMotor.Set(0.5);
+    } else if (direction) {
+        m_elevatorMotor.Set(-0.5);
+    } else {
+        m_elevatorMotor.Set(0);
+    }
+
+    /*
     std::string height_increase;
     int shelfNumber = shelfCurrent + 1;
     // TODO - make motors go up or down 
@@ -51,17 +60,19 @@ void Elevator::ProfiledMoveToHeight(bool direction)
     std::cout << "performed profiled move to " << shelfNumber << std::endl;
     std::cout << "elevator moving" << height_increase << std::endl;
     }
+    */
+}
 
-void Elevator::ShiftHeight(bool direction) 
+void ShiftHeight(bool direction) 
 {
     std::string height_increase;
     // TODO - make motors go up or down 
     if (direction==true){
         height_increase = "up";
-        Elevator::ProfiledMoveToHeight(shelfCurrent+1);
+        //Elevator::ProfiledMoveToHeight(shelfCurrent+1);
     }else{
         height_increase = "down";
-        Elevator::ProfiledMoveToHeight(shelfCurrent-1);
+        //Elevator::ProfiledMoveToHeight(shelfCurrent-1);
     }
     std::cout << "elevator moving" << height_increase << std::endl;
 }

src/main/cpp/InputManager/ElevatorManager.cpp

@@ -1,16 +1,19 @@
-#include "HAL/Elevator.h"
 #include "InputManager/ElevatorManager.h"
 #include <iostream>
 #include <frc/Timer.h>
 
+ElevatorManager::ElevatorManager()
+{
 
-void HandleInput(RobotControlData& control_data) {
+}
+
+void ElevatorManager::HandleInput(RobotControlData& control_data) {
     if (control_data.elevatorInput.up) {
         m_elevator.ProfiledMoveToHeight(true);
     } else if(control_data.elevatorInput.down) {
         m_elevator.ProfiledMoveToHeight(false);
     }
 };
-void Reset(){
+void ElevatorManager::Reset(){
     m_elevator.ProfiledMoveToHeight(0);
 };

src/main/cpp/Robot.cpp

@@ -69,7 +69,7 @@ void Robot::TeleopInit() {
 
 void Robot::TeleopPeriodic() {
   controllerInterface.UpdateRobotControlData(_robot_control_data);
-  Elevator.HandleInput(_robot_control_data);
+  elevatorManager.HandleInput(_robot_control_data);
   clawManager.HandleInput(_robot_control_data);
 }
 

src/main/include/ControllerInterface.h

@@ -8,15 +8,13 @@ class ControllerInterface
         ControllerInterface() = default;
         ~ControllerInterface() = default;
         void UpdateRobotControlData(RobotControlData &controlData);
-        void UpdateElevatorInput(RobotControlData &controlData);
-               frc::XboxController m_pilot{0};
+        frc::XboxController m_pilot{0};
         frc::XboxController m_copilot{1};
 
     private:
         void UpdateSwerveInput(RobotControlData &controlData);
         void UpdateClawInput(RobotControlData &controlData);
-        void UpdateElevatorInput(RobotControlData &controlData);
-
+        void UpdateElevatorInput(RobotControlData &controlData);        
 
         double m_slowmodefactor = 0.25;
 };

src/main/include/HAL/Elevator.h

@@ -3,7 +3,7 @@
 #include <frc/Timer.h>
 #include <rev/CANSparkMax.h>
 #include <frc/XboxController.h>
-#include "RobotControlData.h    
+#include "RobotControlData.h"    
 
 class Elevator
 {
@@ -22,7 +22,7 @@ class Elevator
 private:
     // Raw set height used by profiled move to set the height
     void SetHeight(double desired_height);
-    rev::CANSparkMax m_elevatorMotor{4, rev::CANSparkMax::MotorType::kBrushless};
+    rev::CANSparkMax m_elevatorMotor{5, rev::CANSparkMax::MotorType::kBrushless};
     frc::Timer m_Timer;
 
     bool m_ElevatorFlag;

src/main/include/InputManager/ElevatorManager.h

@@ -3,7 +3,6 @@
 #include "HAL/Elevator.h"
 #include "RobotControlData.h"
 
-Elevator m_elevator = Elevator();
 
 class ElevatorManager
 {
@@ -15,5 +14,5 @@ class ElevatorManager
     void Reset();
 
 private:
-    Elevator _elevator;
+    Elevator m_elevator;
 };

src/main/include/Robot.h

@@ -12,6 +12,7 @@
 #include <memory>
 #include "ControllerInterface.h"
 #include "InputManager/ClawManager.h"
+#include "InputManager/ElevatorManager.h"
 #include "RobotControlData.h"
 class Robot : public frc::TimedRobot {
  public:
@@ -29,9 +30,9 @@ class Robot : public frc::TimedRobot {
   void SimulationPeriodic() override;
   ControllerInterface controllerInterface;
   ClawManager clawManager;
+  ElevatorManager elevatorManager;
 
  private:
-
   frc::SendableChooser<std::string> m_chooser;
   const std::string kAutoNameDefault = "Default";
   const std::string kAutoNameCustom = "My Auto";