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Add Climber stuff

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This commit is contained in:
Michael Mikovsky
2026-02-22 14:02:31 -07:00
parent 77ca57d678
commit 119451e29e
6 changed files with 110 additions and 160 deletions
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src/main/java/frc4388/robot/subsystems/climber/Climber.java
+33 -25
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@@ -1,50 +1,58 @@
package frc4388.robot.subsystems.climber;
import static edu.wpi.first.units.Units.Inches;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Climber extends SubsystemBase {
ClimberIO io;
public ClimberIO io;
ClimberStateAutoLogged state = new ClimberStateAutoLogged();
// Supplier<Pose2d> m_swervePoseSupplier;
public Climber(
ClimberIO io
// Supplier<Pose2d> swervePoseSupplier
) {
this.io = io;
// this.m_swervePoseSupplier = swervePoseSupplier;
}
// public enum ClimberMode {
// Up,
// Down,
// }
ClimberMode mode = ClimberMode.Retracting;
// public void setMode(IntakeMode mode) {
// switch (mode) {
// case Up:
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
// io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
// break;
// case Down:
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
// io.setRollerVelocity(state, IntakeConstants.ROLLER_MAX_VELOCITY);
// break;
// }
// }
public enum ClimberMode {
Extended,
Retracting,
}
public void deploy() {
mode = ClimberMode.Extended;
}
public void retract() {
mode = ClimberMode.Retracting;
}
public void toggleDeployed() {
switch (mode) {
case Extended:
mode = ClimberMode.Retracting;
break;
case Retracting:
mode = ClimberMode.Extended;
break;
}
}
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
switch (mode) {
case Extended:
io.setClimberDistance(state, Inches.of(ClimberConstants.CLIMBER_RETRACT_SPEED.get()));
break;
case Retracting:
io.setPercentOutput(state, ClimberConstants.CLIMBER_RETRACT_SPEED.get());
break;
}
Logger.processInputs("Climber", state);