[elevator] Merge constants

Author: spacey-sooty

src/main/java/org/curtinfrc/frc2025/Autos.java

@@ -14,7 +14,7 @@
 import org.curtinfrc.frc2025.subsystems.drive.DriveConstants.DriveSetpoints;
 import org.curtinfrc.frc2025.subsystems.ejector.Ejector;
 import org.curtinfrc.frc2025.subsystems.elevator.Elevator;
-import org.curtinfrc.frc2025.subsystems.elevator.ElevatorConstants.ElevatorSetpoints;
+import org.curtinfrc.frc2025.subsystems.elevator.Elevator.ElevatorSetpoints;
 import org.curtinfrc.frc2025.subsystems.intake.Intake;
 
 public class Autos {

src/main/java/org/curtinfrc/frc2025/Constants.java

@@ -7,7 +7,7 @@
 import edu.wpi.first.util.struct.StructSerializable;
 import edu.wpi.first.wpilibj.RobotBase;
 import org.curtinfrc.frc2025.subsystems.drive.DriveConstants.DriveSetpoints;
-import org.curtinfrc.frc2025.subsystems.elevator.ElevatorConstants.ElevatorSetpoints;
+import org.curtinfrc.frc2025.subsystems.elevator.Elevator.ElevatorSetpoints;
 
 /**
  * This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running

src/main/java/org/curtinfrc/frc2025/Robot.java

@@ -45,7 +45,7 @@
 import org.curtinfrc.frc2025.subsystems.ejector.EjectorIOComp;
 import org.curtinfrc.frc2025.subsystems.ejector.EjectorIOSim;
 import org.curtinfrc.frc2025.subsystems.elevator.Elevator;
-import org.curtinfrc.frc2025.subsystems.elevator.ElevatorConstants.ElevatorSetpoints;
+import org.curtinfrc.frc2025.subsystems.elevator.Elevator.ElevatorSetpoints;
 import org.curtinfrc.frc2025.subsystems.elevator.ElevatorIO;
 import org.curtinfrc.frc2025.subsystems.elevator.ElevatorIOComp;
 import org.curtinfrc.frc2025.subsystems.elevator.ElevatorIOSim;

src/main/java/org/curtinfrc/frc2025/subsystems/elevator/Elevator.java

@@ -1,26 +1,60 @@
 package org.curtinfrc.frc2025.subsystems.elevator;
 
-import static org.curtinfrc.frc2025.subsystems.elevator.ElevatorConstants.*;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructGenerator;
+import edu.wpi.first.util.struct.StructSerializable;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
-import org.curtinfrc.frc2025.subsystems.elevator.ElevatorConstants.ElevatorSetpoints;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 public class Elevator extends SubsystemBase {
-  private static final double TOLERANCE = 0.01;
+  private static final double TOLERANCE = 0.005;
+  public static double CLIMB_KP = 45;
+  public static double CLIMB_KD = 0;
+
+  public static enum ElevatorSetpoints implements StructSerializable {
+    L1(0),
+    L2(0.221),
+    AlgaePopLow(0),
+    L3(0.611),
+    AlgaePopHigh(0.38),
+    BASE(0.01),
+    climbPrep(0.3),
+    climbAttempt(0.5),
+    climbed(0.01);
+
+    public final double setpointMetres;
+
+    ElevatorSetpoints(double setpointMetres) {
+      this.setpointMetres = setpointMetres;
+    }
+
+    public static ElevatorSetpoints getPopPoint(ElevatorSetpoints point) {
+      switch (point) {
+        case L2:
+          return AlgaePopLow;
+        case L3:
+          return AlgaePopHigh;
+        default:
+          return BASE;
+      }
+    }
+
+    public static final Struct<ElevatorSetpoints> struct =
+        StructGenerator.genEnum(ElevatorSetpoints.class);
+  }
 
   private final ElevatorIO io;
   private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
-  private final PIDController climbPID = new PIDController(climbkP, climbkI, climbkD);
+  private final PIDController climbPID = new PIDController(CLIMB_KP, 0, CLIMB_KD);
   private ElevatorSetpoints setpoint = ElevatorSetpoints.BASE;
 
   public final Trigger isNotAtCollect = new Trigger(() -> setpoint != ElevatorSetpoints.BASE);
@@ -29,12 +63,12 @@ public class Elevator extends SubsystemBase {
 
   public Elevator(ElevatorIO io) {
     this.io = io;
-    climbPID.setTolerance(tolerance);
+    climbPID.setTolerance(TOLERANCE);
 
     atSetpoint =
         new Trigger(
                 () -> {
-                  var error = Math.abs(inputs.positionMetres - setpoint.setpoint);
+                  var error = Math.abs(inputs.positionMetres - setpoint.setpointMetres);
                   var velocity = Math.abs(inputs.velocityMetresPerSecond);
                   return error < TOLERANCE && velocity < 0.1;
                 })
@@ -62,7 +96,7 @@ public Command goToSetpoint(Supplier<ElevatorSetpoints> point, BooleanSupplier s
     return run(() -> {
           setpoint = point.get();
           if (safe.getAsBoolean()) {
-            goToTarget(point.get().setpoint);
+            goToTarget(point.get().setpointMetres);
           }
         })
         .withName("GoToDynamicSetpoint");
@@ -72,7 +106,7 @@ public Command goToSetpoint(ElevatorSetpoints point, BooleanSupplier safe) {
     return run(() -> {
           setpoint = point;
           if (safe.getAsBoolean()) {
-            goToTarget(point.setpoint);
+            goToTarget(point.setpointMetres);
           }
         })
         .withName("GoToStaticSetpoint");
@@ -82,7 +116,7 @@ public Command goToClimberSetpoint(ElevatorSetpoints point, BooleanSupplier safe
     return run(
         () -> {
           if (safe.getAsBoolean()) {
-            var out = climbPID.calculate(inputs.positionMetres, point.setpoint);
+            var out = climbPID.calculate(inputs.positionMetres, point.setpointMetres);
             io.setVoltage(MathUtil.clamp(out, -4, 4));
           }
         });