RoboLoCo-5338/Competition_Bot_2025

Switch Elevator to MotionMagic position controls

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#157 opened on May 18, 2025

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enhancementgood first issuepriority: lowrequires bot: testingtopic: controlstopic: mechanisms

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Description

From testing, MotionMagic smooths out the motion so to avoid the need of different PID slots for up and down and preventing overshoot.

I would prefer this issue be handled by one of our newer members as it should be pretty straightforward. As a hint, it should be <5 new lines and <5 changed lines!

Contributor guide

Research direction
Examine the elevator subsystem code (likely in Elevator.java), locate where PID slots are configured, and replace with MotionMagic configuration following WPILib examples. Look for set references that use PID slots and change to use MotionMagic control mode.
Tech stack
java
Domain
backend
Issue type
Refactor
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
1
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Under 1 hour
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
Java
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
85