created digital switches and limits in elevator sim

BitBucketsFRC4183 · Feb 8, 2025 · 05cf5c3 · 05cf5c3
1 parent b3bdae5
commit 05cf5c3
Show file tree

Hide file tree

Showing 3 changed files with 21 additions and 1 deletion.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -9,6 +9,11 @@
       "visible": true
     }
   },
+  "System Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -109,6 +114,7 @@
     }
   ],
   "robotJoysticks": [
+    {},
     {
       "guid": "Keyboard0"
     }

diff --git a/src/main/java/frc/robot/commands/ManualElevatorCommand.java b/src/main/java/frc/robot/commands/ManualElevatorCommand.java
@@ -26,6 +26,14 @@ public void execute() {
         double calculatedVolts = elevator.elevatorFF.calculate(manualVelocity);
         Logger.recordOutput("ElevatorSubsystem/target_voltage", calculatedVolts);
         this.elevator.setElevatorVoltage(calculatedVolts);
+        if (elevator.getLoadHeight() >= 1.8) {
+            // We are going up and top limit is tripped so stop
+            elevator.setElevatorVoltage(ElevatorConstants.kG);
+        }
+        if (elevator.getLoadHeight() <= 0.5) {
+            // We are going down and bottom limit is tripped so stop
+            elevator.setElevatorVoltage(ElevatorConstants.kG);
+        }
     }
 
     @Override

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem/ElevatorIOSim.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem/ElevatorIOSim.java
@@ -2,6 +2,7 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.filter.LinearFilter;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
 import frc.robot.constants.ElevatorConstants;
 import org.littletonrobotics.junction.Logger;
@@ -22,14 +23,19 @@ public class ElevatorIOSim implements ElevatorIO {
             0,
             0.01,0);
 
+    public static final DigitalInput toplimitSwitch = new DigitalInput(0);
+    public static final DigitalInput bottomlimitSwitch = new DigitalInput(1);
 
     @Override
     public void updateInputs(ElevatorIO.ElevatorIOInputs inputs) {
         elevatorMotor1Sim.update(LOOP_PERIOD_SECS);
         inputs.unfilteredLoadHeight = elevatorMotor1Sim.getPositionMeters();
         inputs.loadHeight = elevatorFilter.calculate(inputs.unfilteredLoadHeight);
         inputs.elevatorCurrentAmps = new double[]{Math.abs(elevatorMotor1Sim.getCurrentDrawAmps())};
-        inputs.elevatorSpeed = elevatorMotor1Sim.getVelocityMetersPerSecond();
+
+
+        Logger.recordOutput("ElevatorSubsystem/toplimitSwitch", toplimitSwitch.get());
+        Logger.recordOutput("ElevatorSubsystem/bottomlimitSwitch", bottomlimitSwitch.get());
         Logger.recordOutput("ElevatorSubsystem/loadHeight", inputs.loadHeight);
         Logger.recordOutput("ElevatorSubsystem/unfilteredLoadHeight", inputs.unfilteredLoadHeight);
     }