Added second motor and ElevatorDown.java

main/java/frc/robot/Commands/frc/robot/commands/ElevatorDown.java

@@ -0,0 +1,24 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevator;
+
+public class ElevatorUp extends Command {
+  private final Elevator elevator;
+
+  public ElevatorDown(Elevator elevator) {
+    this.elevator = elevator;
+
+    addRequirements(elevator);
+  }
+
+  @Override
+  public void execute() {
+    elevator.down();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    elevator.hold();
+  }
+}

main/java/frc/robot/Commands/frc/robot/commands/ElevatorUp.java

@@ -21,5 +21,4 @@ public void execute() {
   public void end(boolean interrupted) {
     elevator.hold();
   }
-
-}
+}

main/java/frc/robot/Constants.java

@@ -54,12 +54,12 @@ public static final class DriveConstants {
     public static final int kRearRightTurningCanId = 16;
 
     public static final boolean kGyroReversed = false;
+  }
 
+  public static final class ElevatorConstants {
+    public static final int ElevatorMotorRight = 20;
+    public static final int ElevatorMotorLeft = 21;
   }
-
-  public static final class ElevatorConstants{
-    public static final int ElevatorMotor = 20;
-  }  
 
   public static final class ModuleConstants {
     // The MAXSwerve module can be configured with one of three pinion gears: 12T,

main/java/frc/robot/RobotContainer.java

@@ -23,6 +23,7 @@
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.Elevator;
 import java.util.List;
 
 /*
@@ -36,7 +37,6 @@ public class RobotContainer {
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
   private final Elevator elevator = new Elevator(20);
 
-
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
   private final ElevatorDown down = new ElevatorDown(elevator);

main/java/frc/robot/subsystems/Elevator.java

@@ -4,34 +4,37 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ElevatorConstants;
 
-public class Elevator extends SubsystemBase{
-  private final CANSparkMax ElevatorMotor;
-
-  public Elevator(int ElevatorMotorID) {
-    ElevatorMotor = new CANSparkMax(ElevatorConstants.ElevatorMotor, CANSparkMax.MotorType.kBrushless);
-
+public class Elevator extends SubsystemBase {
+  private final CANSparkMax ElevatorMotorRight;
+
+  public Elevator(int ElevatorMotorRightID, int ElevatorMotorLeftID) {
+    ElevatorMotorRight =
+        new CANSparkMax(ElevatorConstants.ElevatorMotorRight, CANSparkMax.MotorType.kBrushless);
+    ElevatorMotorLeft =
+        new CANSparkMax(ElevatorConstants.ElevatorMotorLeft, CANSparkMax.MotorType.kBrushless);
   }
 
   // Spins intake motor to intake notes
   public void up() {
-    ElevatorMotor.set(1);
+    ElevatorMotorRight.set(1);
+    ElevatorMotorLeft.set(1);
   }
 
   public void down() {
-    ElevatorMotor.set(-1);
+    ElevatorMotorRight.set(-1);
+    ElevatorMotorLeft.set(-1);
   }
 
   public void hold() {
-    ElevatorMotor.set(0);
+    ElevatorMotorRight.set(0);
+    ElevatorMotorLeft.set(0);
   }
 
   @Override
-  public void periodic() {
-
-  }
+  public void periodic() {}
 
   public void stop() {
-    ElevatorMotor.stopMotor();
+    ElevatorMotorRight.stopMotor();
+    ElevatorMotorLeft.stopMotor();
   }
-
-}
+}