elevator_subsystem.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <frc2/command/SubsystemBase.h>
#include <units/angle.h>
#include <units/length.h>
 
#include <ctre/phoenix6/TalonFX.hpp>
 
class ElevatorSubsystem : public frc2::SubsystemBase {
 public:
  explicit ElevatorSubsystem(argos_lib::RobotInstance robotInstance);
 
  void Periodic() override;
 
  void ElevatorMove(double speed);
 
  void Pivot(double speed);
 
  void Disable();
 
  void ElevatorMoveToHeight(units::inch_t height);
 
  void SetElevatorLiftManualOverride(bool desiredOverrideState);
 
  [[nodiscard]] bool GetElevatorLiftManualOverride() const;
 
  void SetCarriageAngle(units::degree_t carriageAngle);
 
  [[nodiscard]] bool IsCarriageMotorManualOverride() const;
 
  void SetCarriageMotorManualOverride(bool overrideState);
 
  [[nodiscard]] units::inch_t GetElevatorHeight();
 
  [[nodiscard]] bool IsLiftAtSetPoint();
 
  [[nodiscard]] bool IsCarriageAtSetPoint();
 
  [[nodiscard]] bool IsElevatorAtSetPoint();
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  ctre::phoenix6::hardware::TalonFX m_primaryMotor;
  // ctre::phoenix6::hardware::TalonFX m_secondaryMotor;
  ctre::phoenix6::hardware::TalonFX m_carriageMotor;
  argos_lib::RobotInstance m_robotInstance;
  bool m_elevatorManualOverride;
  bool m_carriageMotorManualOverride;
  bool m_elevatorHomed;
  bool m_carriageHomed;
  void EnableElevatorSoftLimits();
  void DisableElevatorSoftLimits();
  void EnableCarriageSoftLimits();
  void DisableCarriageSoftLimits();
};