From 14ed720b5694b71e6f7f834901a1a404956d44cd Mon Sep 17 00:00:00 2001
From: Driver Station Computer <rzghosh@gmail.com>
Date: Sat, 14 Dec 2024 17:02:42 -0800
Subject: [PATCH] we worked on PID elevator again in a new way.

---
 .../java/com/team766/robot/candle_bot/OI.java |  7 +++---
 .../com/team766/robot/candle_bot/Robot.java   |  5 ++++
 .../robot/candle_bot/mechanisms/Elevator.java | 23 +++++++++++++++++++
 3 files changed, 32 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/com/team766/robot/candle_bot/mechanisms/Elevator.java

diff --git a/src/main/java/com/team766/robot/candle_bot/OI.java b/src/main/java/com/team766/robot/candle_bot/OI.java
index 9402be0c..02f7830a 100644
--- a/src/main/java/com/team766/robot/candle_bot/OI.java
+++ b/src/main/java/com/team766/robot/candle_bot/OI.java
@@ -25,18 +25,19 @@ public OI() {
     }
 
     public void run(final Context context) {
+
+        context.takeOwnership(Robot.elevator);
         while (true) {
             // wait for driver station data (and refresh it using the WPILib APIs)
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
             RobotProvider.instance.refreshDriverStationData();
 
             if(joystick0.getButtonPressed(1)){
-                Robot.candle.LED();
+                Robot.elevator.setPosition (10);
             }
             
             if(joystick0.getButtonPressed(2)){
-                Robot.candle.stop();
-
+                Robot.elevator.setPosition (150);
                 }
         
             // Add driver controls here - make sure to take/release ownership
diff --git a/src/main/java/com/team766/robot/candle_bot/Robot.java b/src/main/java/com/team766/robot/candle_bot/Robot.java
index 09a902a8..8a6ca6b8 100644
--- a/src/main/java/com/team766/robot/candle_bot/Robot.java
+++ b/src/main/java/com/team766/robot/candle_bot/Robot.java
@@ -3,16 +3,21 @@
 import com.team766.framework.AutonomousMode;
 import com.team766.framework.Procedure;
 import com.team766.hal.RobotConfigurator;
+import com.team766.robot.candle_bot.mechanisms.Elevator;
 import com.team766.robot.candle_bot.mechanisms.candle;
 import com.team766.robot.example.mechanisms.*;
 
 public class Robot implements RobotConfigurator {
     public static candle candle;
+
+    public static Elevator elevator;
+
     // Declare mechanisms (as static fields) here
 
     @Override
     public void initializeMechanisms() {
         candle = new candle();
+        elevator = new Elevator();
         // Initialize mechanisms here
     }
 
diff --git a/src/main/java/com/team766/robot/candle_bot/mechanisms/Elevator.java b/src/main/java/com/team766/robot/candle_bot/mechanisms/Elevator.java
new file mode 100644
index 00000000..177995e7
--- /dev/null
+++ b/src/main/java/com/team766/robot/candle_bot/mechanisms/Elevator.java
@@ -0,0 +1,23 @@
+package com.team766.robot.candle_bot.mechanisms;
+
+import com.team766.framework.Mechanism;
+import com.team766.hal.MotorController;
+import com.team766.hal.RobotProvider;
+
+public class Elevator extends Mechanism{
+    private MotorController elevatormotor;
+
+public Elevator(){
+    elevatormotor = RobotProvider.instance.getMotor("Elevator.elevatormotor");
+    elevatormotor.setSensorPosition(0);
+}
+    public void setPosition(double position) {
+        checkContextOwnership();
+        elevatormotor.set(MotorController.ControlMode.Position, position);
+    }
+    public void run(){
+        log("elevator encoder: " + elevatormotor.getSensorPosition());
+    }
+    
+}
+