From a2799e83199688f13beab58a5bd52d764fe14bf0 Mon Sep 17 00:00:00 2001
From: William-Hou <whou125@gmail.com>
Date: Thu, 1 Feb 2018 17:33:35 -0800
Subject: [PATCH] Add elevator subsystem (#15)

---
 .idea/codeStyles/Project.xml                  |  4 ++--
 .../java/org/sert2521/powerup/RobotName.kt    |  2 ++
 .../org/sert2521/powerup/elevator/Elevator.kt | 20 +++++++++++++++++++
 .../elevator/commands/TeleopElevator.kt       | 20 +++++++++++++++++++
 .../org/sert2521/powerup/util/Constants.kt    |  9 ++++++---
 5 files changed, 50 insertions(+), 5 deletions(-)
 create mode 100644 src/main/java/org/sert2521/powerup/elevator/Elevator.kt
 create mode 100644 src/main/java/org/sert2521/powerup/elevator/commands/TeleopElevator.kt

diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
index f1d5e0f..2af15c8 100644
--- a/.idea/codeStyles/Project.xml
+++ b/.idea/codeStyles/Project.xml
@@ -89,8 +89,8 @@
           <package name="kotlinx.android.synthetic" withSubpackages="true" static="false" />
         </value>
       </option>
-      <option name="NAME_COUNT_TO_USE_STAR_IMPORT" value="2147483647" />
-      <option name="NAME_COUNT_TO_USE_STAR_IMPORT_FOR_MEMBERS" value="2147483647" />
+      <option name="NAME_COUNT_TO_USE_STAR_IMPORT" value="100" />
+      <option name="NAME_COUNT_TO_USE_STAR_IMPORT_FOR_MEMBERS" value="100" />
     </JetCodeStyleSettings>
     <MarkdownNavigatorCodeStyleSettings>
       <option name="WRAP_ON_TYPING" value="1" />
diff --git a/src/main/java/org/sert2521/powerup/RobotName.kt b/src/main/java/org/sert2521/powerup/RobotName.kt
index e40520b..7446933 100644
--- a/src/main/java/org/sert2521/powerup/RobotName.kt
+++ b/src/main/java/org/sert2521/powerup/RobotName.kt
@@ -1,6 +1,7 @@
 package org.sert2521.powerup
 
 import org.sert2521.powerup.drivetrain.Drivetrain
+import org.sert2521.powerup.elevator.Elevator
 import org.sert2521.powerup.intake.Intake
 import org.sertain.Robot
 
@@ -8,5 +9,6 @@ class RobotName : Robot() {
     override fun onCreate() {
         Drivetrain
         Intake
+        Elevator
     }
 }
diff --git a/src/main/java/org/sert2521/powerup/elevator/Elevator.kt b/src/main/java/org/sert2521/powerup/elevator/Elevator.kt
new file mode 100644
index 0000000..177e2b4
--- /dev/null
+++ b/src/main/java/org/sert2521/powerup/elevator/Elevator.kt
@@ -0,0 +1,20 @@
+package org.sert2521.powerup.elevator
+
+import org.sert2521.powerup.elevator.commands.TeleopElevator
+import org.sert2521.powerup.util.LEFT_ELEVATOR_MOTOR
+import org.sert2521.powerup.util.RIGHT_ELEVATOR_MOTOR
+import org.sertain.command.Subsystem
+import org.sertain.hardware.Talon
+import org.sertain.hardware.autoBreak
+import org.sertain.hardware.plus
+
+object Elevator : Subsystem() {
+    private val elevator =
+            Talon(LEFT_ELEVATOR_MOTOR).autoBreak() + Talon(RIGHT_ELEVATOR_MOTOR).autoBreak()
+
+    override val defaultCommand = TeleopElevator()
+
+    fun set(speed: Double) = elevator.set(speed)
+
+    fun stop() = elevator.stopMotor()
+}
diff --git a/src/main/java/org/sert2521/powerup/elevator/commands/TeleopElevator.kt b/src/main/java/org/sert2521/powerup/elevator/commands/TeleopElevator.kt
new file mode 100644
index 0000000..38f1834
--- /dev/null
+++ b/src/main/java/org/sert2521/powerup/elevator/commands/TeleopElevator.kt
@@ -0,0 +1,20 @@
+package org.sert2521.powerup.elevator.commands
+
+import org.sert2521.powerup.elevator.Elevator
+import org.sert2521.powerup.util.secondaryJoystick
+import org.sertain.command.Command
+
+class TeleopElevator : Command() {
+    init {
+        requires(Elevator)
+    }
+
+    override fun execute(): Boolean {
+        if (secondaryJoystick.trigger) Elevator.set(secondaryJoystick.y)
+        return false
+    }
+
+    override fun onDestroy() {
+        Elevator.stop()
+    }
+}
diff --git a/src/main/java/org/sert2521/powerup/util/Constants.kt b/src/main/java/org/sert2521/powerup/util/Constants.kt
index 29aaeba..91121b0 100644
--- a/src/main/java/org/sert2521/powerup/util/Constants.kt
+++ b/src/main/java/org/sert2521/powerup/util/Constants.kt
@@ -9,10 +9,13 @@ const val SECONDARY_STICK_PORT = 2
 const val CONTROLLER_PORT = 3
 
 // Talon IDs
-const val RIGHT_FRONT_MOTOR = 10
-const val RIGHT_REAR_MOTOR = 14
 const val LEFT_FRONT_MOTOR = 19
 const val LEFT_REAR_MOTOR = 17
+const val RIGHT_FRONT_MOTOR = 10
+const val RIGHT_REAR_MOTOR = 14
 
-const val RIGHT_INTAKE_MOTOR = 13
 const val LEFT_INTAKE_MOTOR = 12
+const val RIGHT_INTAKE_MOTOR = 13
+
+const val LEFT_ELEVATOR_MOTOR = -1
+const val RIGHT_ELEVATOR_MOTOR = -1