start climber subsystem

src/main/java/frc4388/robot/Constants.java

@@ -163,4 +163,10 @@ public final class Constants {
         public static final int RIGHT_SHOOTER_ID = 16;
         public static final double SHOOTER_SPEED = 0.50;
     }
+
+    public static final class climberConstants {
+        public static final int CLIMBERMOTOR_ID = 19;
+        public static final double CLIMBINSPEED = -1;
+        public static final double CLIMBOUTSPEED = 0.87;
+    }
 }

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

@@ -26,6 +26,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc4388.utility.controller.VirtualController;
 import frc4388.robot.commands.Swerve.neoJoystickPlayback;
 import frc4388.robot.commands.Swerve.neoJoystickRecorder;
+import frc4388.robot.subsystems.Climber;
 import frc4388.robot.subsystems.Intake;
 // Subsystems
 import frc4388.robot.subsystems.Shooter;
@@ -49,6 +50,8 @@ public class RobotContainer {
     public final RobotMap m_robotMap = new RobotMap();
     
     /* Subsystems */
+    public final Climber m_climber= new Climber(m_robotMap.climber);
+    
     public final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
     // private final LED m_robotLED = new LED();
     public final Intake m_robotIntake= new Intake(m_robotMap.pivotArm, m_robotMap.intakeWheel);
@@ -192,6 +195,9 @@ public class RobotContainer {
             new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
             true, false))
             .onFalse(new InstantCommand());
+        
+        /* Climber */
+        new Trigger(())
     }
     
     /**

src/main/java/frc4388/robot/RobotMap.java

@@ -16,6 +16,7 @@ import frc4388.robot.Constants.ShooterConstants;
 // import edu.wpi.first.wpilibj.motorcontrol.Spark;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.Constants.climberConstants;
 import frc4388.robot.subsystems.SwerveModule;
 import frc4388.utility.RobotGyro;
 
@@ -56,10 +57,13 @@ public class RobotMap {
     public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
     public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
     public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
-
+    /*Intake subsystem */
     public final TalonFX pivotArm = new TalonFX(IntakeConstants.IDs.PIVOTMOTOR_ID);
     public final TalonFX intakeWheel = new TalonFX(IntakeConstants.IDs.INTAKEMOTOR_ID);
 
+    /*climber subsystem */
+    public final TalonFX climber = new TalonFX(climberConstants.CLIMBERMOTOR_ID);
+
     /* Shooter Subsystem */
     public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
     public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);

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

@@ -0,0 +1,28 @@
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import frc4388.robot.Constants.climberConstants;
+
+public class Climber {
+    private TalonFX climber;
+
+    public Climber(TalonFX climberTalonFX){
+        climber = climberTalonFX;
+
+        climber.setNeutralMode(NeutralModeValue.Brake);
+    }
+
+    public void climberDown() {
+        climber.set(climberConstants.CLIMBOUTSPEED);
+    }
+
+    public void climberUp() {
+        climber.set(climberConstants.CLIMBINSPEED);
+    }
+
+    public void climberStop() {
+        climber.set(0);
+    }
+}