small change - level now represents empirically height for elevator

SciBorgs · Feb 1, 2025 · 54d93dd · 54d93dd
1 parent f693c5b
commit 54d93dd
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Showing 6 changed files with 23 additions and 22 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/Constants.java b/src/main/java/org/sciborgs1155/robot/Constants.java
@@ -60,18 +60,5 @@ public static boolean inField(Pose3d pose) {
           && pose.getY() > 0
           && pose.getY() < Field.WIDTH.in(Meters));
     }
-
-    public enum Level {
-      L1(Meters.of(.3)),
-      L2(Meters.of(.7)),
-      L3(Meters.of(1)),
-      L4(Meters.of(1.5));
-
-      public final Distance height;
-
-      Level(Distance height) {
-        this.height = height;
-      }
-    }
   }
 }
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -37,6 +37,7 @@
 import org.sciborgs1155.robot.coroller.Coroller;
 import org.sciborgs1155.robot.drive.Drive;
 import org.sciborgs1155.robot.elevator.Elevator;
+import org.sciborgs1155.robot.elevator.ElevatorConstants.Level;
 import org.sciborgs1155.robot.led.LEDStrip;
 import org.sciborgs1155.robot.scoral.Scoral;
 import org.sciborgs1155.robot.vision.Vision;
@@ -187,7 +188,7 @@ public Command rumble(RumbleType rumbleType, double strength) {
   public Command systemsCheck() {
     return Test.toCommand(
             drive.systemsCheck(),
-            elevator.goToTest(Level.L1.height),
+            elevator.goToTest(Level.L1.extension),
             Test.fromCommand(scoral.outtake().withTimeout(2)))
         .withName("Test Mechanisms");
   }

diff --git a/src/main/java/org/sciborgs1155/robot/commands/Scoraling.java b/src/main/java/org/sciborgs1155/robot/commands/Scoraling.java
@@ -2,8 +2,8 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.sciborgs1155.robot.Constants.Field.Level;
 import org.sciborgs1155.robot.elevator.Elevator;
+import org.sciborgs1155.robot.elevator.ElevatorConstants.Level;
 import org.sciborgs1155.robot.hopper.Hopper;
 import org.sciborgs1155.robot.scoral.Scoral;
 

diff --git a/src/main/java/org/sciborgs1155/robot/elevator/Elevator.java b/src/main/java/org/sciborgs1155/robot/elevator/Elevator.java
@@ -24,7 +24,6 @@
 import monologue.Logged;
 import org.sciborgs1155.lib.Assertion;
 import org.sciborgs1155.lib.Test;
-import org.sciborgs1155.robot.Constants.Field.Level;
 import org.sciborgs1155.robot.Robot;
 
 public class Elevator extends SubsystemBase implements Logged, AutoCloseable {
@@ -110,7 +109,7 @@ public Command retract() {
    * @return A command which drives the elevator to one of the 4 levels.
    */
   public Command scoreLevel(Level level) {
-    return goTo(level.height.in(Meters));
+    return goTo(level.extension.in(Meters));
   }
 
   /**

diff --git a/src/main/java/org/sciborgs1155/robot/elevator/ElevatorConstants.java b/src/main/java/org/sciborgs1155/robot/elevator/ElevatorConstants.java
@@ -39,4 +39,18 @@ public class ElevatorConstants {
   public static final double CONVERSION_FACTOR = GEARING / SPROCKET_CIRCUMFRENCE.in(Meters) / 2;
 
   public static final Current CURRENT_LIMIT = Amps.of(50);
+
+  public enum Level {
+    L1(Meters.of(.3)),
+    L2(Meters.of(.7)),
+    L3(Meters.of(1)),
+    L4(Meters.of(1.5));
+
+    /** This value is empirically determined */
+    public final Distance extension;
+
+    Level(Distance extension) {
+      this.extension = extension;
+    }
+  }
 }
diff --git a/src/test/java/org/sciborgs1155/robot/ElevatorTest.java b/src/test/java/org/sciborgs1155/robot/ElevatorTest.java
@@ -11,8 +11,8 @@
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
-import org.sciborgs1155.robot.Constants.Field.Level;
 import org.sciborgs1155.robot.elevator.Elevator;
+import org.sciborgs1155.robot.elevator.ElevatorConstants.Level;
 import org.sciborgs1155.robot.elevator.SimElevator;
 
 public class ElevatorTest {
@@ -38,10 +38,10 @@ public void reachesPosition(Distance height) {
   private static Stream<Arguments> providePositionValues() {
     return Stream.of(
         Arguments.of(MIN_HEIGHT),
-        Arguments.of(Level.L1.height),
-        Arguments.of(Level.L2.height),
-        Arguments.of(Level.L3.height),
-        Arguments.of(Level.L4.height),
+        Arguments.of(Level.L1.extension),
+        Arguments.of(Level.L2.extension),
+        Arguments.of(Level.L3.extension),
+        Arguments.of(Level.L4.extension),
         Arguments.of(MAX_HEIGHT));
   }
 }