Added Elevator Subystem

Added method to make it move

src/main/java/frc4388/robot/RobotContainer.java

@@ -20,6 +20,7 @@ import frc4388.robot.commands.DriveToDistanceMM;
 import frc4388.robot.commands.DriveToDistancePID;
 import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Elevator;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.LEDPatterns;
@@ -38,6 +39,7 @@ public class RobotContainer {
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
     private final Intake m_robotIntake = new Intake();
+    private final Elevator m_robotElevator = new Elevator();
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -56,6 +58,10 @@ public class RobotContainer {
             getDriverController().getRightXAxis()), m_robotDrive));
         // drives motor with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
+        // moves elevator with one-axis input from the driver controller
+        m_robotElevator.setDefaultCommand(new RunCommand(() -> m_robotElevator.moveElevator(
+            getOperatorController().getLeftYAxis()), m_robotElevator
+        ));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }

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

@@ -7,24 +7,42 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ElevatorConstants;
 
 public class Elevator extends SubsystemBase {
-
-  public WPI_TalonSRX m_talon1;
-  public WPI_TalonSRX m_talon2;
+  
+  public WPI_TalonSRX m_talon1 = new WPI_TalonSRX(ElevatorConstants.TALON_1);
+  public WPI_TalonSRX m_talon2 = new WPI_TalonSRX(ElevatorConstants.TALON_2);
 
   /**
    * Creates a new Elevator.
    */
   public Elevator() {
+    m_talon1.configFactoryDefault();
+    m_talon2.configFactoryDefault();
 
+    m_talon2.follow(m_talon1);
+
+    m_talon1.setNeutralMode(NeutralMode.Brake);
+    m_talon2.setNeutralMode(NeutralMode.Brake);
+
+    m_talon1.setInverted(false);
+    m_talon2.setInverted(false);
+    m_talon1.setInverted(InvertType.FollowMaster);
+    m_talon2.setInverted(InvertType.FollowMaster);
   }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
+  public void moveElevator(double speed) {
+    m_talon1.set(speed);
+    m_talon2.set(speed);
+  }
 }