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ElevatorRunToHeight Command

A command that moves the elevator to a specified target height using closed-loop position control. The command can either end once the target is reached or continuously maintain the position.

Required Subsystems

Constructor Parameters

public ElevatorRunToHeight(ElevatorSubsystem elevatorSubsystem, Distance targetHeight, boolean holdPosition)
- elevatorSubsystem: The elevator subsystem instance to control - targetHeight: The desired height for the elevator to reach (automatically clamped between MIN_HEIGHT and MAX_HEIGHT) - holdPosition: Optional parameter to maintain position after reaching target

Configuration

  • Ensure PID constants are properly tuned
  • Configure MAX_HEIGHT and MIN_HEIGHT in ElevatorConstants
  • AT_TARGET_HEIGHT_POSITION_THRESHOLD must be set appropriately for position tolerance
  • Soft limits should be enabled to prevent mechanical damage
  • The command will use the appropriate PID slot based on the current game element

  • Brake mode should be properly configured in the motor controller for position holding

  • Hardware Limits

    • MAX_HEIGHT and MIN_HEIGHT must be configured in ElevatorConstants
    • Soft limits should be enabled to prevent mechanical damage

  • Motor Configuration

    • Brake mode should be enabled for position holding
    • Feedback sensor must be properly configured and zeroed

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