Algae

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

@@ -50,12 +50,31 @@ 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;
 
+    /**
+     * Algae misc values
+     */
+    public static final class Algae {
+        public static final int VOLTAGE = 0;
+        public static final int NEGATIVE_VOLTAGE = 0;
+        public static final int BEAM_BRAKE_ID = 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

@@ -13,10 +13,12 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.lib.util.viz.FieldViz;
 import frc.lib.util.viz.Viz2025;
 import frc.robot.Robot.RobotRunType;
 import frc.robot.subsystems.LEDs;
+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;
@@ -48,11 +50,15 @@ public class RobotContainer {
     private final RobotState state;
 
     /* Subsystems */
-
+    private ElevatorAlgae s_ElevatorAlgae;
     private LEDs leds = new LEDs();
     private final Swerve s_Swerve;
     private final Vision s_Vision;
 
+    /* Triggers */
+    private Trigger algaeInIntake = new Trigger(() -> s_ElevatorAlgae.hasAlgae());
+
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -90,6 +96,12 @@ public RobotContainer(RobotRunType runtimeType) {
      * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
      */
     private void configureButtonBindings(RobotRunType runtimeType) {
+        driver.rightBumper()
+            .whileTrue(s_ElevatorAlgae.setMotorVoltageCommand(Constants.Algae.VOLTAGE));
+        driver.leftBumper()
+            .whileTrue(s_ElevatorAlgae.setMotorVoltageCommand(Constants.Algae.NEGATIVE_VOLTAGE));
+
+
         driver.y().onTrue(new InstantCommand(() -> s_Swerve.resetFieldRelativeOffset()));
         driver.a().onTrue(new Command() {
             Timer timer = new Timer();

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

@@ -0,0 +1,40 @@
+package frc.robot.subsystems.elevator_algae;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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 runEnd(() -> setAlgaeMotorVoltage(speed), () -> setAlgaeMotorVoltage(0))
+            .until(() -> hasAlgae());
+    }
+}

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

@@ -0,0 +1,22 @@
+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;
+        boolean beamBrakeStatus;
+    }
+
+    public default void setAlgaeMotorVoltage(double voltage) {}
+
+    public default void updateInputs(AlgaeIOInputs inputs) {}
+
+}

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

@@ -0,0 +1,38 @@
+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();
+
+    /**
+     * Algae Real constructor
+     */
+    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/maple-sim.json

@@ -1,7 +1,7 @@
 {
     "fileName": "maple-sim.json",
     "name": "maplesim",
-    "version": "0.3.2",
+    "version": "0.3.1",
     "frcYear": "2025",
     "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "org.ironmaple",
             "artifactId": "maplesim-java",
-            "version": "0.3.2"
+            "version": "0.3.1"
         },
         {
             "groupId": "org.dyn4j",