Created Elevator Subsystem

Added Elevator Subsystem with 2 modes. Use D-Pads for Top or Bottom and Bumpers for free mode.

src/main/java/frc4388/robot/subsystems/Elevator.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ElevatorConstants;
+
+public class Elevator extends SubsystemBase {
+  /** Creates a new Elevator. */
+  private TalonFX elevatorMotor;
+
+  public Elevator(TalonFX elevatorTalonFX) {
+    elevatorMotor = elevatorTalonFX;
+
+    elevatorMotor.setNeutralMode(NeutralModeValue.Coast);
+    
+    var PIDConfigs = new Slot0Configs();
+    PIDConfigs.kP = 0;
+    PIDConfigs.kI = 0;
+    PIDConfigs.kD = 0;
+    elevatorMotor.getConfigurator().apply(PIDConfigs);
+  }
+
+  //PID methods
+
+  public void PIDPosition(double position) {
+    var request = new PositionVoltage(position);
+    elevatorMotor.setControl(request);
+  }
+
+  public void PIDLevel1() {
+    PIDPosition(ElevatorConstants.LEVEL_1);
+  }
+
+  public void PIDLevel2() {
+    PIDPosition(ElevatorConstants.LEVEL_2);
+  }
+
+  public void elevatorUp() {
+    elevatorMotor.set(ElevatorConstants.ELEVATOR_SPEED_UP);
+  }
+
+  public void elevatorDown() {
+    elevatorMotor.set(ElevatorConstants.ELEVATOR_SPEED_UP);
+  }
+
+  public void elevatorStop() {
+    elevatorMotor.set(0);
+  }
+  
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}