manipulator constants (fixed errors)

Author: pranayk-rep

src/main/java/frc/robot/RobotContainer.java

@@ -46,7 +46,7 @@ public class RobotContainer {
     // Subsystems
     private final Drive drive_;
 
-    private final Manipulator manipulator_;
+    private final Manipulator manipulator;
 
     // Controller
     private final CommandXboxController gamepad_ = new CommandXboxController(0);
@@ -67,7 +67,7 @@ public RobotContainer() {
                         new ModuleIOTalonFX(TunerConstants.BackLeft),
                         new ModuleIOTalonFX(TunerConstants.BackRight));
 
-                manipulator_ = new Manipulator();
+                manipulator = new Manipulator();
 
                 break;
 
@@ -81,7 +81,7 @@ public RobotContainer() {
                         new ModuleIOSim(TunerConstants.BackLeft),
                         new ModuleIOSim(TunerConstants.BackRight));
 
-                manipulator_ = new Manipulator();
+                manipulator = new Manipulator();
 
                 break;
 
@@ -95,7 +95,7 @@ public RobotContainer() {
                         new ModuleIO() {},
                         new ModuleIO() {});
 
-                manipulator_ = new Manipulator();
+                manipulator = new Manipulator();
                 break;
         }
 

src/main/java/frc/robot/subsystems/manipulator/ManipulatorIO.java

@@ -5,45 +5,70 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.Volts;
-
+import static edu.wpi.first.units.Units.Watts;
 import org.littletonrobotics.junction.AutoLog;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Power;
 import edu.wpi.first.units.measure.Voltage;
 
 
 
 public interface ManipulatorIO  {
   @AutoLog
-   public static class ManipulatorIOInputs {
+  public static class ManipulatorIOInputs {
     //inputs of postion,current,voltage and velocity (acceleration) 
-    public static final AngularVelocity DegreesperSecond = null;
 
-        public class ArmStatus {
-
-                    public boolean armReady = false;
-                    public Angle armPosition = Degrees.of(0);
-                    public Current armCurrent = null;
-                    public Voltage armVoltage = null;
-                    public AngularVelocity armVelocity = RadiansPerSecond.of(0);
-                    public Angle armRawMotorPosition = Degrees.of(0);
-                    public AngularVelocity  armRawMotorVelocity = DegreesperSecond;  
-                public int syncCount =  Integer.MAX_VALUE; 
-                
-                //constants for elevator part of the manipulator  
-                 public Distance elevatorPostion = Meters.of(0);
-                 public LinearVelocity elevatorVelocity = MetersPerSecond.of(0); 
-                public Angle elevatorRawMotorPostion = Degrees.of(syncCount);
-        }
-      }
-      //elevator contants (inputs of voltage and postion) 
-       public boolean elevator1isReady = false;  
-       public Voltage elevator1vVoltage = Volts.of(0);
-       public  Current elevator1Current = Amps.of(0);
-
-   }
+    public AngularVelocity DegreesperSecond = null;
+    
+    public class ArmStatus {
+      
+      public boolean armReady = false;
+      public Angle armPosition = Degrees.of(0);
+      public Current armCurrent = null;
+      public Voltage armVoltage = null;
+      public AngularVelocity armVelocity = RadiansPerSecond.of(0);
+      public Angle armRawMotorPosition = Degrees.of(0);
+      public AngularVelocity  armRawMotorVelocity = DegreesperSecond;  
+      public int syncCount =  Integer.MAX_VALUE; 
+      
+      //constants for elevator part of the manipulator  
+      public Distance elevatorPostion = Meters.of(0);
+      public LinearVelocity elevatorVelocity = MetersPerSecond.of(0); 
+      public Angle elevatorRawMotorPostion = Degrees.of(syncCount);
+    }
+  }
+  
+  //elevator contants (inputs of the voltage and postion) 
+  public boolean elevator1isReady = false;  
+  public Voltage elevator1vVoltage = Volts.of(0);
+  public  Current elevator1Current = Amps.of(0);
+  public Power  elevator1power = Watts.zero();
+  public Power elevator1powerAvg = Watts.zero(); 
+
+//elevator 2 constants (inputs of the voltage and postion)
+public boolean elevator2isReady = false;
+public Voltage elevator2vVoltage= Volts.of(0);
+public Current elevator2Current = Amps.of(0);
+public Power elevator2power= Watts.zero();
+public Power elevator2powerAvg = Watts.zero(); 
+
+
+//encoder 
+public Angle absoluteEncoder = Degrees.of(0);
+public double rawabsoluteEncoder = 0;
+  
+ // updating the inputs on the elevator 
+   public default void updateInputs(ManipulatorIOInputs inputs) {}
+    public default void toggleSyncing()  {} }
 
+    //need for SYS ID support 
+      
+  
+
+
+