> For the complete documentation index, see [llms.txt](https://yams.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/elevator.md). # Elevator **Package:** `yams.mechanisms.positional`\ **Extends:** `SmartPositionalMechanism` Controls a linear elevator mechanism. Position is expressed as carriage height above the zero reference point. ## Constructor ```java Elevator(ElevatorConfig config, SmartMotorController smc) ``` | Name | Type | Description | | -------- | ---------------------- | ------------------------------------------------- | | `config` | `ElevatorConfig` | Elevator geometry, limits, and control parameters | | `smc` | `SmartMotorController` | Configured motor controller driving the elevator | See [ElevatorConfig](/api-reference/java-reference/config/elevator-config.md) and [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md). ## State Queries | Method | Returns | Description | | ------------- | ---------- | ---------------------------------------- | | `getHeight()` | `Distance` | Current carriage height from the encoder | ## Command Factories Commands returned are compatible with the WPILib command scheduler. Commands that run indefinitely must be interrupted or composed with a terminating condition. | Method | Returns | Description | | -------------------------------------------- | --------- | ---------------------------------------------------------------------- | | `setHeight(Distance height)` | `Command` | Holds `height` using closed-loop control; runs indefinitely | | `runTo(Distance height, Distance tolerance)` | `Command` | Drives to `height` and ends when within `tolerance` | | `set(double dutycycle)` | `Command` | Open-loop: applies the given duty cycle; runs indefinitely | | `set(Supplier dutycycle)` | `Command` | Open-loop duty cycle from a supplier; re-evaluates each loop iteration | | `setVoltage(Voltage volts)` | `Command` | Open-loop: applies a fixed voltage; runs indefinitely | | `setVoltage(Supplier volts)` | `Command` | Open-loop voltage from a supplier; re-evaluates each loop iteration | ### `setHeight` ```java public Command setHeight(Distance height) ``` | Name | Type | Description | | -------- | ---------- | ------------------------------- | | `height` | `Distance` | Desired carriage height to hold | Returns `Command`. ### `runTo` ```java public Command runTo(Distance height, Distance tolerance) ``` | Name | Type | Description | | ----------- | ---------- | ------------------------------------------------- | | `height` | `Distance` | Desired carriage height | | `tolerance` | `Distance` | Acceptable height error for the command to finish | Returns `Command`. ### `set(double)` ```java public Command set(double dutycycle) ``` | Name | Type | Description | | ----------- | -------- | ----------------------------- | | `dutycycle` | `double` | Motor duty cycle in `[-1, 1]` | Returns `Command`. ### `set(Supplier)` ```java public Command set(Supplier dutycycle) ``` | Name | Type | Description | | ----------- | ------------------ | -------------------------------------------- | | `dutycycle` | `Supplier` | Supplier returning duty cycle each iteration | Returns `Command`. ### `setVoltage(Voltage)` ```java public Command setVoltage(Voltage volts) ``` | Name | Type | Description | | ------- | --------- | -------------------- | | `volts` | `Voltage` | Fixed voltage output | Returns `Command`. ### `setVoltage(Supplier)` ```java public Command setVoltage(Supplier volts) ``` | Name | Type | Description | | ------- | ------------------- | ----------------------------------------- | | `volts` | `Supplier` | Supplier returning voltage each iteration | Returns `Command`. ## Triggers Triggers integrate with the WPILib `Trigger` / `CommandScheduler` binding API. | Method | Returns | Description | | --------------------------------------------- | --------- | ------------------------------------------------------------ | | `isNear(Distance height, Distance tolerance)` | `Trigger` | Active when current height is within `tolerance` of `height` | | `gte(Distance height)` | `Trigger` | Active when current height ≥ `height` | | `lte(Distance height)` | `Trigger` | Active when current height ≤ `height` | | `between(Distance start, Distance end)` | `Trigger` | Active when current height is in `[start, end]` | | `max()` | `Trigger` | Active when the carriage has reached its upper hard limit | | `min()` | `Trigger` | Active when the carriage has reached its lower hard limit | ### `isNear` ```java public Trigger isNear(Distance height, Distance tolerance) ``` | Name | Type | Description | | ----------- | ---------- | --------------------------- | | `height` | `Distance` | Reference height | | `tolerance` | `Distance` | Acceptable height deviation | Returns `Trigger`. ### `gte` ```java public Trigger gte(Distance height) ``` | Name | Type | Description | | -------- | ---------- | ------------------ | | `height` | `Distance` | Lower bound height | Returns `Trigger`. ### `lte` ```java public Trigger lte(Distance height) ``` | Name | Type | Description | | -------- | ---------- | ------------------ | | `height` | `Distance` | Upper bound height | Returns `Trigger`. ### `between` ```java public Trigger between(Distance start, Distance end) ``` | Name | Type | Description | | ------- | ---------- | ------------------------ | | `start` | `Distance` | Lower bound of the range | | `end` | `Distance` | Upper bound of the range | Returns `Trigger`. ### `max` ```java public Trigger max() ``` No parameters. Returns `Trigger` that is active when the carriage is at its upper hard limit as configured in `ElevatorConfig`. ### `min` ```java public Trigger min() ``` No parameters. Returns `Trigger` that is active when the carriage is at its lower hard limit as configured in `ElevatorConfig`. ## Visualization & Simulation | Method | Returns | Description | | ------------------------ | ---------------------- | --------------------------------------------------------------- | | `getMechanismLigament()` | `MechanismLigament2d` | The ligament used in the Mechanism2d visualization | | `getMechanismRoot()` | `MechanismRoot2d` | The root of the Mechanism2d visualization | | `getMotor()` | `SmartMotorController` | The underlying motor controller | | `simIterate()` | `void` | Advances the elevator physics simulation by one loop iteration | | `updateTelemetry()` | `void` | Publishes current state to NetworkTables | | `visualizationUpdate()` | `void` | Syncs the Mechanism2d ligament with the current encoder reading | `simIterate()` uses `ElevatorSim` internally. For simulation to work correctly, `ElevatorConfig` must have `withCarriageWeight()` and `withDrumRadius()` set. Call `simIterate()` from your `simulationPeriodic()` method. Call `updateTelemetry()` and `visualizationUpdate()` from `periodic()`. ## Examples {% @github-files/github-code-block url="" %} {% @github-files/github-code-block url="" %} ## See Also * [ElevatorConfig](/api-reference/java-reference/config/elevator-config.md) * [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md) * [C++ Elevator](/api-reference/c++-reference/mechanisms/elevator.md)