[ISSUE:31] Added Elevator Commands

Big-Bad-Wolf-2025/src/main/java/frc/robot/commands/ElevatorDown.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.constants.Global;
+import frc.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevatorDown extends Command 
+{
+  private final Elevator m_Elevator;
+  /** 
+   * Creates a new ElevatorDown. 
+   */
+  public ElevatorDown(Elevator p_Elevator)
+  {
+    this.m_Elevator = p_Elevator;
+    addRequirements(this.m_Elevator);
+  }
+
+  /**
+   * Called when the command is initially scheduled.
+   */
+  @Override
+  public void initialize() 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, ElevatorConstants.ELEVATOR_DOWN_VOLTAGE);// Applies negative voltage
+  }
+
+  /**
+   * Called every time the scheduler runs while the command is scheduled.
+   */
+  @Override
+  public void execute() 
+  {
+    // intentionally empty
+  }
+
+  /**
+   * Called once the command ends or is interrupted.
+   */
+  @Override
+  public void end(boolean interrupted) 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, 0);// Shuts off voltage
+  }
+
+  /**
+   * Returns true when the command should end.
+   */
+  @Override
+  public boolean isFinished() 
+  {
+    return false;
+  }
+}

Big-Bad-Wolf-2025/src/main/java/frc/robot/commands/ElevatorGoHome.java

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+
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.constants.Global;
+import frc.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevatorGoHome extends Command 
+{
+  private final Elevator m_Elevator;
+  /** 
+   * Creates a new ElevatorGoHome. 
+   */
+  public ElevatorGoHome(Elevator p_Elevator)
+  {
+    this.m_Elevator = p_Elevator;
+    addRequirements(this.m_Elevator);
+  }
+
+  /**
+   * Called when the command is initially scheduled.
+   */
+  @Override
+  public void initialize() 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.POSITION, ElevatorConstants.ELEVATOR_ZERO_POSITION);// Will set elevator to the home position
+  }
+
+  /**
+   * Called every time the scheduler runs while the command is scheduled.
+   */
+  @Override
+  public void execute() 
+  {
+    //intentionally empty
+  }
+
+  /**
+   * Called once the command ends or is interrupted.
+   */
+  @Override
+  public void end(boolean interrupted) 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, 0);// Once command ends shuts off motor voltage
+  }
+
+  /**
+   * Returns true when the command should end.
+   */
+  @Override
+  public boolean isFinished() 
+  {
+    return false;
+  }
+}

Big-Bad-Wolf-2025/src/main/java/frc/robot/commands/ElevatorLevelFour.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.constants.Global;
+import frc.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevatorLevelFour extends Command 
+{
+   private final Elevator m_Elevator;
+  /** 
+   * Creates a new ElevatorLevelFour. 
+   */
+  public ElevatorLevelFour(Elevator p_Elevator) 
+  {
+    this.m_Elevator = p_Elevator;
+    addRequirements(this.m_Elevator);
+  }
+
+  /**
+   * Called when the command is initially scheduled.
+   */
+  @Override
+  public void initialize() 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.POSITION, ElevatorConstants.ELEVATOR_LEVEL_FOUR);// Sets elevator to Level 4
+  }
+
+  /**
+   * Called every time the scheduler runs while the command is scheduled.
+   */
+  @Override
+  public void execute() 
+  {
+    // Intentionally empty
+  }
+
+  /**
+   * Called once the command ends or is interrupted.
+   */
+  @Override
+  public void end(boolean interrupted) 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, 0);// Once command ends shuts off motor voltage
+  }
+
+  /**
+   * Returns true when the command should end.
+   */
+  @Override
+  public boolean isFinished() 
+  {
+    return false;
+  }
+}

Big-Bad-Wolf-2025/src/main/java/frc/robot/commands/ElevatorLevelThree.java

@@ -0,0 +1,60 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.constants.Global;
+import frc.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevatorLevelThree extends Command 
+{
+   private final Elevator m_Elevator;
+  /** 
+   * Creates a new ElevatorLevelThree. 
+   */
+  public ElevatorLevelThree(Elevator p_Elevator) 
+  {
+    this.m_Elevator = p_Elevator;
+    addRequirements(this.m_Elevator);
+  }
+
+  /**
+   * Called when the command is initially scheduled.
+   */
+  @Override
+  public void initialize() 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.POSITION, ElevatorConstants.ELEVATOR_LEVEL_THREE);// Sets elevator to Level 3
+  }
+
+  /**
+   * Called every time the scheduler runs while the command is scheduled.
+   */
+  @Override
+  public void execute() 
+  {
+    // Intentionally empty
+  }
+
+  /**
+   * Called once the command ends or is interrupted.
+   */
+  @Override
+  public void end(boolean interrupted) 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, 0);// Once command ends shuts off motor voltage
+  }
+
+  /**
+   * Returns true when the command should end.
+   */
+  @Override
+  public boolean isFinished() 
+  {
+    return false;
+  }
+}

Big-Bad-Wolf-2025/src/main/java/frc/robot/commands/ElevatorLevelTwo.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.constants.Global;
+import frc.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevatorLevelTwo extends Command 
+{
+   private final Elevator m_Elevator;
+  /** 
+   * Creates a new ElevatorLevelTwo. 
+   */
+  public ElevatorLevelTwo(Elevator p_Elevator) 
+  {
+    this.m_Elevator = p_Elevator;
+    addRequirements(this.m_Elevator);
+  }
+
+  /**
+   * Called when the command is initially scheduled.
+   */
+  @Override
+  public void initialize() 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.POSITION, ElevatorConstants.ELEVATOR_LEVEL_TWO);// Sets elevator to Level 2
+  }
+
+  /**
+   * Called every time the scheduler runs while the command is scheduled.
+   */
+  @Override
+  public void execute() 
+  {
+    // Intentionally empty
+  }
+
+  /**
+   * Called once the command ends or is interrupted.
+   */
+  @Override
+  public void end(boolean interrupted) 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, 0);// Once command ends shuts off motor voltage
+  }
+
+  /**
+   * Returns true when the command should end.
+   */
+  @Override
+  public boolean isFinished() 
+  {
+    return false;
+  }
+}

Big-Bad-Wolf-2025/src/main/java/frc/robot/commands/ElevatorUp.java

@@ -0,0 +1,60 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.constants.Global;
+import frc.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevatorUp extends Command 
+{
+  private final Elevator m_Elevator;
+  /** 
+   * Creates a new ElevatorUp. 
+   */
+  public ElevatorUp(Elevator p_Elevator)
+  {
+    this.m_Elevator = p_Elevator;
+    addRequirements(this.m_Elevator);
+  }
+
+  /**
+   * Called when the command is initially scheduled.
+   */
+  @Override
+  public void initialize() 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, ElevatorConstants.ELEVATOR_UP_VOLTAGE);// Applies voltage for elevator to go up
+  }
+
+  /**
+   * Called every time the scheduler runs while the command is scheduled.
+   */
+  @Override
+  public void execute() 
+  {
+    // Intentionally empty
+  }
+
+  /**
+   * Called once the command ends or is interrupted.
+   */
+  @Override
+  public void end(boolean interrupted) 
+  {
+    m_Elevator.elevatorRequest(Global.MODE.VOLTAGE, 0);// Once command ends shuts off motor voltage
+  }
+
+  /**
+   * Returns true when the command should end.
+   */
+  @Override
+  public boolean isFinished() 
+  {
+    return false;
+  }
+}

Big-Bad-Wolf-2025/src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -0,0 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.constants;
+
+/** Add your docs here. */
+public class ElevatorConstants 
+{
+//All values are filler values and units until further testing
+    public static final double ELEVATOR_ZERO_POSITION = 0;
+    public static final double ELEVATOR_LEVEL_TWO = 10;
+    public static final double ELEVATOR_LEVEL_THREE = 20;
+    public static final double ELEVATOR_LEVEL_FOUR = 30;
+
+    public static final double ELEVATOR_UP_VOLTAGE = 4;
+    public static final double ELEVATOR_DOWN_VOLTAGE = -4;
+}