From bfb23ab1734c06d7e02930ff55954b814cc8cc6a Mon Sep 17 00:00:00 2001
From: codingduck106 <65737878+codingduck106@users.noreply.github.com>
Date: Fri, 17 Oct 2025 16:19:25 -0700
Subject: [PATCH 1/2] Create generic ElevatorBase class for elevator control

This class serves as a generic configurable elevator base, allowing for specific implementations by extending it.
---
 .../lib2813/subsystems/ElevatorBase.java      | 103 ++++++++++++++++++
 1 file changed, 103 insertions(+)
 create mode 100644 lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java

diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java b/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
new file mode 100644
index 00000000..f195f53b
--- /dev/null
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
@@ -0,0 +1,103 @@
+package com.team2813.lib2813.subsystems;
+
+import static edu.wpi.first.units.Units.Radians;
+
+import java.util.function.Supplier;
+
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.team2813.lib2813.control.ControlMode;
+import com.team2813.lib2813.control.InvertType;
+import com.team2813.lib2813.control.motors.TalonFXWrapper;
+import com.team2813.lib2813.subsystems.ElevatorBase;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.networktables.BooleanPublisher;
+import edu.wpi.first.networktables.DoublePublisher;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Current;
+
+/**
+ * Generic configurable elevator base class.
+ * Extend this to create specific elevator implementations
+ * (set motor IDs, PID values, enum positions, etc.).
+ *
+ * Author: Team 2813
+ */
+public abstract class ElevatorBase extends MotorSubsystem<ElevatorBase.PositionBase> {
+
+    /** Defines an elevator position with a unit-safe angle */
+    public interface PositionBase extends Supplier<Angle>{
+        Angle get();
+    }
+
+    protected final TalonFXWrapper motor;
+    protected final PIDController pid;
+
+    protected final BooleanPublisher atPos;
+    protected final DoublePublisher pos;
+
+    /**
+     * @param motor the TalonFXWrapper to control this elevator
+     * @param pid   PID controller for closed-loop position control
+     * @param gearRatio mechanism gear ratio (rotations -> mechanism movement)
+     * @param ntInstance NetworkTables instance for telemetry
+     */
+    protected ElevatorBase(
+            TalonFXWrapper motor,
+            PIDController pid,
+            NetworkTableInstance ntInstance,
+            double acceptableError
+    ) {
+        super(new MotorSubsystemConfiguration(motor)
+        .controlMode(ControlMode.VOLTAGE)
+        .acceptableError(acceptableError)
+        .rotationUnit(Radians)
+        .controller(pid));
+        this.motor = motor;
+        this.pid = pid;
+        NetworkTable nt = ntInstance.getTable("Elevator");
+        atPos = nt.getBooleanTopic("at position").publish();
+        pos = nt.getDoubleTopic("position").publish();
+    }
+
+    /** Override this in child to return applied current */
+    @Override
+    public Current getAppliedCurrent() {
+        // TODO stub method
+        return null;
+    }
+
+    /** Clamp/control how output is sent to the motor 
+     * 
+     * @param output - the output sent to the motor
+     * @param setpoint - the PID setpoint of the motor
+    */
+    @Override
+    protected void useOutput(double output, double setpoint) {
+        // Default clamp [-6,6], can override in child if needed
+        super.useOutput(MathUtil.clamp(output, -6, 6), setpoint);
+    }
+
+    /** Telemetry updates */
+    @Override
+    public void periodic() {
+        super.periodic();
+        atPos.set(atPosition());
+        pos.set(getMeasurement());
+    }
+
+    /** Utility method for making a default-configured motor 
+     * 
+     * @param masterID - the CAN ID of the master motor
+     * @param followerID - the CAN ID of the follower motor
+    */
+    protected static TalonFXWrapper makeMotor(int masterID, int followerID) {
+        TalonFXWrapper wrapper = new TalonFXWrapper(masterID, InvertType.CLOCKWISE);
+        wrapper.setNeutralMode(NeutralModeValue.Brake);
+        wrapper.addFollower(followerID, InvertType.FOLLOW_MASTER);
+        return wrapper;
+    }
+}

From 12bf9c2ae156d0a6bea26e543e9aedfd6f39c0a8 Mon Sep 17 00:00:00 2001
From: codingduck106 <65737878+codingduck106@users.noreply.github.com>
Date: Fri, 17 Oct 2025 16:27:10 -0700
Subject: [PATCH 2/2] Remove getAppliedCurrent method from ElevatorBase

Removed the stub method for getAppliedCurrent in ElevatorBase, because it doesn't need to be overriden apparently.
---
 .../java/com/team2813/lib2813/subsystems/ElevatorBase.java | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java b/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
index f195f53b..993d0773 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/ElevatorBase.java
@@ -63,13 +63,6 @@ protected ElevatorBase(
         pos = nt.getDoubleTopic("position").publish();
     }
 
-    /** Override this in child to return applied current */
-    @Override
-    public Current getAppliedCurrent() {
-        // TODO stub method
-        return null;
-    }
-
     /** Clamp/control how output is sent to the motor 
      * 
      * @param output - the output sent to the motor