Elevator

The elevator subsystem is for a single elevator. It can be used to move to a position and respond to manual commands.

To create an elevator subsystem, you can use the following code:

wom::Elevator *elevator = new wom::Elevator("elevator path (in nt tables)", config) // config is a ElevatorConfig

Parameters

Type	Name	Description	See Also
wom::ElevatorConfig	config	The configuration for the elevator

Config

Type	Name	Description	See Also
std::string	path	The path to the elevator in the NT tables
wom::Gearbox	leftGearbox	The left gearbox for the elevator
wom::Gearbox	rightGearbox	The right gearbox for the elevator
wom::CANSparkMaxEncoder	encoder	The encoder for the elevator
frc::DigitalInput*	topSensor	The top sensor for the elevator
frc::DigitalInput*	bottomSensor	The bottom sensor for the elevator
units::meter_t	radius	The radius of the elevator
units::kilogram_t	mass	The mass of the elevator
units::meter_t	maxHeight	The maximum height of the elevator
units::meter_t	minHeight	The minimum height of the elevator
units::meter_t	initialHeight	The initial height of the elevator
wom::PIDConfig<units::meter, units::volt>	pid	The PID configuration for the elevator	PID Config
wom::PIDConfig<units::meters_per_second, units::volt>	velocityPID	The velocity PID configuration for the elevator	PID Config

States

wom::ElevatorState is an enum of states for the elevator.

Name	Value	Description
kIdle	0	The elevator is idle
kPID	1	The elevator is in PID mode
kManual	2	The elevator is in manual mode
kVelocity	3	The elevator is in velocity mode

Methods

SetManual

Sets the elevator to manual mode.

void SetManual(units::volt_t voltage)

Usage

elevator->SetManual(12_V)

SetPID

Sets the elevator to PID mode.

void SetPID(units::meter_t height)

Usage

elevator->SetPID(1_m)

SetState

Sets the state of the elevator.

void SetState(wom::ElevatorState state)

See States for the possible states.

Usage

elevator->SetState(wom::ElevatorState::kPID)

SetVelocity

Sets the elevator to velocity mode.

void SetVelocity(units::meters_per_second_t velocity)

Usage

elevator->SetVelocity(1_mps)

GetElevatorEncoderPos

Returns the elevator encoder position.

double GetElevatorEncoderPos()

Usage

double pos = elevator->GetElevatorEncoderPos()

SetElevatorSpeedLimit

Sets the elevator speed limit.

void SetElevatorSpeedLimit(double limit)

Usage

elevator->SetElevatorSpeedLimit(1_mps)

GetConfig

Gets the config of the elevator.

Returns wom::ElevatorConfig (see above)

Usage

wom::ElevatorConfig config = elevator->GetConfig()

IsStable

Returns whether the elevator is stable.

bool IsStable()

Usage

bool stable = elevator->IsStable()

GetState

Returns the state of the elevator.

wom::ElevatorState GetState()

Usage

wom::ElevatorState state = elevator->GetState()

GetHeight

Returns the height of the elevator.

units::meter_t GetHeight()

Usage

units::meter_t height = elevator->GetHeight()

MaxSpeed

Returns the maximum speed of the elevator.

units::meters_per_second_t MaxSpeed()

Usage

units::meters_per_second_t maxSpeed = elevator->MaxSpeed()

GetElevatorVelocity

Returns the elevator velocity.

units::meters_per_second_t GetElevatorVelocity()

Usage

units::meters_per_second_t velocity = elevator->GetElevatorVelocity()