Command for debug thing on driver station

."C:\Users\driver\Documents\visualvm_22\bin\visualvm" --jdkhome "C:\Users\Public\wpilib\2025\jdk"

Code Structure

Elevator

• Define an enum class at the top of the subsystem and explicitly define all of its states. Each state represents one of the movements that the subsystem can physically do.

public enum State {
    NOT_MOVING,
    MOVING_UP,
    MOVING_DOWN,
    HOLDING_POSITION
}

• Add a switch statement to periodic to check current state and apply motor voltage based on that.

switch (currentState) {
    case NOT_MOVING:
        motor.setVoltage(0.0);
        break;
    case MOVING_UP:
        motor.setVoltage(6.0);
        break;
    case MOVING_DOWN:
        motor.setVoltage(-6.0);
        break;
    case HOLDING_POSITION:
        motor.setVoltage(0.5);
        break;
}

• Create a void handleStateTransition method that contains an if statement that checks target height, current height, and tolerance to determine next state.

private void handleStateTransition() {
    if (Math.abs(targetHeight - currentHeight) <= TOLERANCE && targetHeight > 0.0) {
        currentState = State.HOLDING_POSITION;
    } else if (targetHeight > currentHeight + TOLERANCE) {
        currentState = State.MOVING_UP;
    } else if (targetHeight < currentHeight - TOLERANCE) {
        currentState = State.MOVING_DOWN;
    } else {
        currentState = State.NOT_MOVING;
    }
}

• Commands should be methods in the subsystem that set a target height

public Command moveToLevelTwo() {
    return run(() -> setTargetHeight(LEVEL_TWO)).until(() -> withinTolerance());
}

LED

• Elevator states: fifth priority IDLE, fourth priority MOVING_UP, fourth priority MOVING_DOWN, first priority HOLDING
• Outtake states: fifth priority IDLE, third priority LOADING, second priority priority SHOOTING