Merge remote-tracking branch 'origin/Elevator-zero' into Elevator-zero

src/main/java/frc/robot/maps/ColdStart.java

@@ -141,6 +141,7 @@ public ElevatorMap getElevatorMap() {
                 PersistMode.kPersistParameters);
         configLeft.voltageCompensation(11.5);
         configLeft.smartCurrentLimit(50);
+        configLeft.idleMode(IdleMode.kBrake);
         configLeft.encoder.velocityConversionFactor(((1 / 22.2) * Math.PI * 1.75) / 60);
         // Gear reduction is 22.2 sprocket diameter is 1.75 inches
         configLeft.encoder.positionConversionFactor(((1 / 22.2) * Math.PI * 1.75) * 2);

src/main/java/frc/robot/maps/subsystems/ArmRotateMap.java

@@ -0,0 +1,29 @@
+package frc.robot.maps.subsystems;
+
+import com.chopshop166.chopshoplib.logging.DataWrapper;
+import com.chopshop166.chopshoplib.logging.LoggableMap;
+import com.chopshop166.chopshoplib.logging.data.MotorControllerData;
+import com.chopshop166.chopshoplib.motors.SmartMotorController;
+import com.chopshop166.chopshoplib.sensors.IEncoder;
+
+public class ArmRotateMap implements LoggableMap<ArmRotateMap.Data> {
+
+    public SmartMotorController motor;
+    public final IEncoder encoder;
+
+    public ArmRotateMap(SmartMotorController motor, IEncoder encoder) {
+        this.motor = motor;
+        this.encoder = encoder;
+    }
+
+    @Override
+    public void updateData(Data data) {
+        data.motor.updateData(motor);
+        data.rotationAbsAngleDegrees = encoder.getAbsolutePosition();
+    }
+
+    public static class Data extends DataWrapper {
+        public MotorControllerData motor = new MotorControllerData();
+        public double rotationAbsAngleDegrees;
+    }
+}

src/main/java/frc/robot/subsystems/ArmRotate.java

@@ -0,0 +1,18 @@
+package frc.robot.subsystems;
+
+import com.chopshop166.chopshoplib.logging.LoggedSubsystem;
+
+import frc.robot.maps.subsystems.ArmRotateMap;
+import frc.robot.maps.subsystems.ArmRotateMap.Data;
+
+public class ArmRotate extends LoggedSubsystem<Data, ArmRotateMap> {
+
+    public ArmRotate(ArmRotateMap armRotateMap) {
+        super(new Data(), armRotateMap);
+    }
+
+    @Override
+    public void safeState() {
+
+    }
+}