Min height in simulation

Co-authored-by: ambers7 <[email protected]>

simgui-ds.json

@@ -88,5 +88,11 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }

simgui.json

@@ -30,6 +30,9 @@
             }
           }
         },
+        "Gamepads": {
+          "open": true
+        },
         "open": true
       }
     }

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -7,8 +7,6 @@
 
 import com.stuypulse.stuylib.network.SmartNumber;
 
-import edu.wpi.first.math.util.Units;
-
 /*-
  * File containing tunable settings for every subsystem on the robot.
  *
@@ -17,13 +15,13 @@
  */
 public interface Settings {
     public interface Elevator {
-        double DT = 0.3; //time between each simulation update
+        double DT = 0.3; // time between each simulation update
         double GEARING = 1;
         double CARRIAGE_MASS = 15; // kg
-        double DRUM_RADIUS = 0.025; // meters
+        double DRUM_RADIUS = 0.025; // meters 
 
-        double MIN_HEIGHT = 0.1;
-        double MAX_HEIGHT = 1.5;
+        double MIN_HEIGHT = 0;
+        double MAX_HEIGHT = 1.1;
 
         double MAX_HEIGHT_ERROR = 0.03;
 

src/main/java/com/stuypulse/robot/subsystems/Elevator.java

@@ -12,7 +12,6 @@
 import com.stuypulse.stuylib.streams.filters.MotionProfile;
 
 import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public abstract class Elevator extends SubsystemBase {
@@ -64,6 +63,8 @@ public final boolean isReady(double error) {
 
     @Override
     public void periodic() {
-        elevatorVisualizer.setHeight(targetHeight.getAsDouble());
+        if (targetHeight.getAsDouble() >= MIN_HEIGHT) {
+            elevatorVisualizer.setHeight(targetHeight.getAsDouble());
+        }
     }
 }

src/main/java/com/stuypulse/robot/subsystems/SimElevator.java

@@ -13,7 +13,6 @@ public class SimElevator extends Elevator {
     public SimElevator() {
         height = 0.0;
         velocity = 0.0;
-
         sim = new ElevatorSim(DCMotor.getNEO(2), GEARING,  CARRIAGE_MASS, DRUM_RADIUS, MIN_HEIGHT, MAX_HEIGHT, true);
     }