Elevator Subsystem

The Elevator subsystem is responsible for controlling the vertical movement of the robot's elevator mechanism. It provides both closed-loop velocity/position control and open-loop manual control capabilities.

Constructor and Parameters

public ElevatorSubsystem(ElevatorIO io)

• io: Hardware interface for controlling the elevator mechanism

Commands

The Elevator subsystem is used by the following commands:

• DefaultElevatorRunAtVelocity
• ElevatorOpenLoop - Command for manual control using percent output
• ElevatorRunToHeight - Moves the elevator to a specified target height and maintains it

Configuration Requirements

1. PID Configuration:

   • Separate PID slots must be configured for each control type (VELOCITY, POSITION)
   • AT_TARGET_HEIGHT_POSITION_THRESHOLD must be set in ElevatorConstants

2. Hardware Limits:

   • MAX_HEIGHT and MIN_HEIGHT must be set in ElevatorConstants
   • MAX_OPEN_LOOP_PERCENTAGE must be configured for manual control limits

3. Sensor Configuration:

   • Position sensors must be properly configured and zeroed
   • Soft limits should be enabled to prevent mechanical damage

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