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Elevator Mechanism

Elevators pop up commonly in FRC and are used to move mechanisms in a compact linear fashion. This is usually to reach higher places with a mechanism, reach far out from your frame perimeter, or even climb on a field element. The elevator mechanism controls a linear translation system, such as a carriage that moves vertically. It supports position, velocity, and duty cycle control with unit conversions built in.

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Common Use Cases​

  • Vertical lifts
  • Telescoping mechanisms
  • Vertical climbers

Typical Controls​

  • Position control for set heights.
  • Velocity control for smooth motion.
  • Duty cycle for manual control.

Common Methods​

  • setTargetPosition(distance)
  • setTargetVelocity(velocity)
  • setTargetDutyCycle(dutyCycle)
  • getCurrentPosition()
  • getCurrentVelocity()

Tips​

  • Tune feedforward/feedback in the subsystem if you need gravity compensation.
  • Keep distances in meters for consistency.