Correct suggestions from #12

- Fixed elevator code based on comments from #12
- Implemented limit switches as emergency stops
- Mapped commands to Joystick buttons

.gitignore

@@ -75,4 +75,5 @@ hs_err_pid*
 
 .idea/*
 
+bin/
 wpilib/

CODEOWNERS

@@ -18,7 +18,6 @@
 
 
 # Samuel Piltch - Elevator
-/src/org/usfirst/frc/team334/robot/subsystems/Drive.java @samuelpiltch
 /src/org/usfirst/frc/team334/robot/subsystems/Elevator.java @samuelpiltch
 
 /src/org/usfirst/frc/team334/robot/commands/Elevator @samuelpiltch

src/org/usfirst/frc/team334/robot/Constants.java

@@ -15,10 +15,16 @@ public class Constants {
 	*/
 
 	public static final int SWITCH_GEAR_CONTROL = 0;
+	public static final int ELEVATOR_CONTROL = 1;
 
 	// Button mappings. The controller device for each button is set above.
 	public static final int SWITCH_GEAR_BUTTON = 1;
-
+
+	public static final int ELEVATOR_TO_SWITCH_BUTTON = 2;
+	public static final int ELEVATOR_TO_SCALE_BUTTON = 3;
+	public static final int ELEVATOR_TO_EXCHANGE_BUTTON = 4;
+	public static final int COLLAPSE_ELEVATOR_BUTTON = 5;
+
 	// Motors
 	public static final int DRIVETRAIN_LEFT = 0;
 	public static final int DRIVETRAIN_RIGHT = 1;
@@ -35,14 +41,14 @@ public class Constants {
 	public static final int FORCE_COMPRESSOR_BUTTON = 2;
 
 	// Elevator
-	public static final int ELEVATOR_MOTOR_LEFT = 6;
-	public static final int ELEVATOR_MOTOR_RIGHT = 7;
+	public static final int ELEVATOR_MOTOR_LEFT = -1;
+	public static final int ELEVATOR_MOTOR_RIGHT = -1;
 
 	// Elevator Sensors (Limit Switches + Encoder)
-	public static final int ELEVATOR_LIMIT_TOP = 0;
-	public static final int ELEVATOR_LIMIT_BOTTOM = 2;
-	public static final int ELEVATOR_ENCODER_A = 4;
-	public static final int ELEVATOR_ENCODER_B = 5;
+	public static final int ELEVATOR_LIMIT_TOP = -1;
+	public static final int ELEVATOR_LIMIT_BOTTOM = -1;
+	public static final int ELEVATOR_ENCODER_A = -1;
+	public static final int ELEVATOR_ENCODER_B = -1;
 	// Elevator PID
 	public static final double ELEVATOR_P = 0;
 	public static final double ELEVATOR_I = 0;
@@ -51,6 +57,7 @@ public class Constants {
 	public static final int ELEVATOR_SWITCH = 5;
 	public static final int ELEVATOR_SCALE = 5;
 	public static final int ELEVATOR_EXCHANGE = 5;
+	public static final int ELEVATOR_BOTTOM = 5;
 
 	// Ultrasonics
 	public static final int ULTRASONIC_L_DRIVETRAIN_PING = 0;

src/org/usfirst/frc/team334/robot/OI.java

@@ -4,6 +4,10 @@
 import java.util.Arrays;
 
 import org.usfirst.frc.team334.robot.commands.Drivetrain.ToggleTransmissionCommand;
+import org.usfirst.frc.team334.robot.commands.Elevator.CollapseElevatorCommand;
+import org.usfirst.frc.team334.robot.commands.Elevator.SetElevatorToExchangeCommand;
+import org.usfirst.frc.team334.robot.commands.Elevator.SetElevatorToScaleCommand;
+import org.usfirst.frc.team334.robot.commands.Elevator.SetElevatorToSwitchCommand;
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
@@ -24,14 +28,23 @@ public OI() {
 		leftJoystick = new Joystick(Constants.JOYSTICK_LEFT);
 		rightJoystick = new Joystick(Constants.JOYSTICK_RIGHT);
 		xbox = new XboxController(Constants.XBOX);
-		controls = new ArrayList<>(
-			Arrays.asList(leftJoystick, rightJoystick, xbox));
+		controls = new ArrayList<>(Arrays.asList(leftJoystick, rightJoystick, xbox));
 
 		// Init Buttons
 		Button shiftGears = new JoystickButton(controls.get(Constants.SWITCH_GEAR_CONTROL), Constants.SWITCH_GEAR_BUTTON);
 
+		Button raiseElevatorToSwitch = new JoystickButton(controls.get(Constants.ELEVATOR_CONTROL), Constants.ELEVATOR_TO_SWITCH_BUTTON);
+		Button raiseElevatorToScale = new JoystickButton(controls.get(Constants.ELEVATOR_CONTROL), Constants.ELEVATOR_TO_SCALE_BUTTON);
+		Button raiseElevatorToExchange = new JoystickButton(controls.get(Constants.ELEVATOR_CONTROL), Constants.ELEVATOR_TO_EXCHANGE_BUTTON);
+		Button collapseElevator = new JoystickButton(controls.get(Constants.ELEVATOR_CONTROL), Constants.COLLAPSE_ELEVATOR_BUTTON);
+
 		// Button Actions
 		shiftGears.whenPressed(new ToggleTransmissionCommand());
+
+		raiseElevatorToSwitch.whenPressed(new SetElevatorToSwitchCommand());
+		raiseElevatorToScale.whenPressed(new SetElevatorToScaleCommand());
+		raiseElevatorToExchange.whenPressed(new SetElevatorToExchangeCommand());
+		collapseElevator.whenPressed(new CollapseElevatorCommand());
 	}
 
 	public Joystick getLeftJoystick() {

src/org/usfirst/frc/team334/robot/commands/Elevator/CollapseElevatorCommand.java

@@ -1,5 +1,6 @@
 package org.usfirst.frc.team334.robot.commands.Elevator;
 
+import org.usfirst.frc.team334.robot.Constants;
 import org.usfirst.frc.team334.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
@@ -15,13 +16,18 @@ public CollapseElevatorCommand() {
 	@Override
 	protected void initialize() {
 		System.out.println("COLLAPSING ELEVATOR");
+
+		Robot.sElevator.setSetpoint(Constants.ELEVATOR_BOTTOM);
+		Robot.sElevator.enable();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	@Override
 	protected void execute() {
-		Robot.sElevator.setSetpoint(0);
-		Robot.sElevator.enable();
+		// End command if either limit switches are triggered.
+		if (Robot.sElevator.getTopLimitSwitch() || Robot.sElevator.getBottomLimitSwitch()) {
+			end();
+		}
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

src/org/usfirst/frc/team334/robot/commands/Elevator/SetElevatorToExchangeCommand.java

@@ -15,13 +15,18 @@ public SetElevatorToExchangeCommand() {
 	@Override
 	protected void initialize() {
 		System.out.println("MOVING ELEVATOR TO EXCHANGE POSITION");
+
+		Robot.sElevator.setSetpoint(Constants.ELEVATOR_EXCHANGE);
+		Robot.sElevator.enable();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	@Override
 	protected void execute() {
-		Robot.sElevator.setSetpoint(Constants.ELEVATOR_EXCHANGE);
-		Robot.sElevator.enable();
+		// End command if either limit switches are triggered.
+		if (Robot.sElevator.getTopLimitSwitch() || Robot.sElevator.getBottomLimitSwitch()) {
+			end();
+		}
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

src/org/usfirst/frc/team334/robot/commands/Elevator/SetElevatorToScaleCommand.java

@@ -15,13 +15,18 @@ public SetElevatorToScaleCommand() {
 	@Override
 	protected void initialize() {
 		System.out.println("MOVING ELEVATOR TO SCALE POSITION");
+
+		Robot.sElevator.setSetpoint(Constants.ELEVATOR_SCALE);
+		Robot.sElevator.enable();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	@Override
 	protected void execute() {
-		Robot.sElevator.setSetpoint(Constants.ELEVATOR_SCALE);
-		Robot.sElevator.enable();
+		// End command if either limit switches are triggered.
+		if (Robot.sElevator.getTopLimitSwitch() || Robot.sElevator.getBottomLimitSwitch()) {
+			end();
+		}
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

src/org/usfirst/frc/team334/robot/commands/Elevator/SetElevatorToSwitchCommand.java

@@ -16,13 +16,18 @@ public SetElevatorToSwitchCommand() {
 	@Override
 	protected void initialize() {
 		System.out.println("MOVING ELEVATOR TO SWITCH POSITION");
+
+		Robot.sElevator.setSetpoint(Constants.ELEVATOR_SWITCH);
+		Robot.sElevator.enable();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	@Override
 	protected void execute() {
-		Robot.sElevator.setSetpoint(Constants.ELEVATOR_SWITCH);
-		Robot.sElevator.enable();
+		// End command if either limit switches are triggered.
+		if (Robot.sElevator.getTopLimitSwitch() || Robot.sElevator.getBottomLimitSwitch()) {
+			end();
+		}
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

src/org/usfirst/frc/team334/robot/subsystems/Elevator.java

@@ -29,8 +29,8 @@ public Elevator() {
 		rElevatorEncoder = new Encoder(Constants.ELEVATOR_ENCODER_A, Constants.ELEVATOR_ENCODER_B);
 
 		this.disable();
-		this.setAbsoluteTolerance(0);
-		this.setOutputRange(-1, 0);
+		this.setAbsoluteTolerance(5);
+		this.setOutputRange(-1, 1);
 	}
 
 	public void setMotors(double speed) {
@@ -50,8 +50,8 @@ protected double returnPIDInput() {
 
 	@Override
 	protected void usePIDOutput(double output) {
-//		System.out.println("Error: " + output + "Encoder Value: " + rElevatorEncoder.get());
-		setMotors(output);
+		// System.out.println("Error: " + output + "Encoder Value: " + rElevatorEncoder.get());
+		setMotors(output * .1);
 	}
 
 	public boolean getTopLimitSwitch() {