Algae

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.peterabeles.gversion" version "1.10"
     id "io.freefair.lombok" version "8.4"
 

simgui-ds.json

@@ -0,0 +1,98 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}

src/main/java/frc/robot/Constants.java

@@ -29,12 +29,22 @@ public final class Constants {
     public static final int operatorId = 1;
 
     public static final boolean tuningMode = false;
+    /**
+     * Current threshold that indicates an algae is in possestion
+     */
+    public static final double HAS_ALGAE_CURRENT_THRESHOLD = 0;
 
 
     /**
      * Motor CAN id's.
      */
     public static final class Motors {
+        /**
+         * Algae Motor CAN id's
+         */
+        public static final class AlgaeMotors {
+            public static final int ALGAE_MOTOR_ID = 0;
+        }
     }
 
 

src/main/java/frc/robot/RobotContainer.java

@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot.RobotRunType;
+import frc.robot.subsystems.elevator_algae.ElevatorAlgae;
 import frc.robot.subsystems.swerve.Swerve;
 import frc.robot.subsystems.swerve.SwerveIO;
 import frc.robot.subsystems.swerve.SwerveReal;
@@ -27,6 +28,7 @@ public class RobotContainer {
 
     /* Subsystems */
     private Swerve s_Swerve;
+    private ElevatorAlgae s_ElevatorAlgae;
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -52,6 +54,12 @@ public RobotContainer(RobotRunType runtimeType) {
      */
     private void configureButtonBindings(RobotRunType runtimeType) {
         driver.y().onTrue(new InstantCommand(() -> s_Swerve.resetFieldRelativeOffset()));
+        driver.rightBumper()
+            .whileTrue(new InstantCommand(() -> s_ElevatorAlgae.setAlgaeMotorVoltage(1)));
+        driver.leftBumper()
+            .whileTrue(new InstantCommand(() -> s_ElevatorAlgae.setAlgaeMotorVoltage(-1)));
+
+
     }
 
     /**

src/main/java/frc/robot/subsystems/elevator_algae/ElevatorAlgae.java

@@ -0,0 +1,42 @@
+package frc.robot.subsystems.elevator_algae;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+/**
+ * Elevator Algae class
+ */
+public class ElevatorAlgae extends SubsystemBase {
+    ElevatorAlgaeIO io;
+    AlgaeIOInputsAutoLogged inputs = new AlgaeIOInputsAutoLogged();
+
+    /*
+     * Constructor for Elevator Algae class
+     */
+    public ElevatorAlgae(ElevatorAlgaeIO io) {
+        this.io = io;
+        io.updateInputs(inputs);
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(inputs);
+    }
+
+
+    public void setAlgaeMotorVoltage(double voltage) { // set motor speed function
+        io.setAlgaeMotorVoltage(voltage);
+    }
+
+    public boolean hasAlgae() {
+        return inputs.algaeMotorCurrent > Constants.HAS_ALGAE_CURRENT_THRESHOLD;
+    }
+
+    public Command setMotorVoltageCommand(double speed) { // set motor speed Command
+        return Commands.runEnd(() -> setAlgaeMotorVoltage(speed), () -> setAlgaeMotorVoltage(0),
+            this);
+    }
+
+}

src/main/java/frc/robot/subsystems/elevator_algae/ElevatorAlgaeIO.java

@@ -0,0 +1,21 @@
+package frc.robot.subsystems.elevator_algae;
+
+import org.littletonrobotics.junction.AutoLog;
+
+/**
+ * elevator algae io class
+ */
+public interface ElevatorAlgaeIO {
+    /**
+     * Elevator Algae inputs
+     */
+    @AutoLog
+    public class AlgaeIOInputs {
+        double algaeMotorCurrent;
+    }
+
+    public default void setAlgaeMotorVoltage(double voltage) {}
+
+    public default void updateInputs(AlgaeIOInputs inputs) {}
+
+}

src/main/java/frc/robot/subsystems/elevator_algae/ElevatorAlgaeReal.java

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.elevator_algae;
+
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkFlexConfig;
+import frc.robot.Constants;
+
+/**
+ * Algae Real Class
+ */
+public class ElevatorAlgaeReal implements ElevatorAlgaeIO {
+    private final SparkFlex algaeMotor = // Algae motor
+        new SparkFlex(Constants.Motors.AlgaeMotors.ALGAE_MOTOR_ID, MotorType.kBrushless);
+    private final SparkFlexConfig algaeMotorConfig = new SparkFlexConfig();
+
+    public ElevatorAlgaeReal() {
+        algaeMotorConfig.idleMode(IdleMode.kBrake);
+        algaeMotor.configure(algaeMotorConfig, ResetMode.kResetSafeParameters,
+            PersistMode.kPersistParameters);
+    }
+
+    @Override
+    public void updateInputs(AlgaeIOInputs inputs) { // update inputs to IO layer
+        inputs.algaeMotorCurrent = algaeMotor.getOutputCurrent();
+    }
+
+    @Override
+    public void setAlgaeMotorVoltage(double voltage) { // set hardware speed
+        algaeMotor.setVoltage(voltage);
+    }
+
+}

vendordeps/AdvantageKit.json

@@ -1,7 +1,7 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "4.0.0",
+    "version": "4.1.0",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,21 +12,22 @@
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-java",
-            "version": "4.0.0"
+            "version": "4.1.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-wpilibio",
-            "version": "4.0.0",
+            "version": "4.1.0",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [
                 "linuxathena",
-                "windowsx86-64",
                 "linuxx86-64",
-                "osxuniversal"
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
             ]
         }
     ],