Added climber subsystem

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

@@ -29,6 +29,10 @@ public final class Constants {
     public static final class IntakeConstants {
         public static final int INTAKE_SPARK_ID = 1;
     }
+    
+    public static final class ClimberConstants {
+        public static final int CLIMBER_SPARK_ID = 10;
+    }
 
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;

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

@@ -16,7 +16,9 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunIntakeWithTriggers;
+import frc4388.robot.subsystems.Climber;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
@@ -36,6 +38,7 @@ public class RobotContainer {
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
     private final Intake m_robotIntake = new Intake();
+    private final Climber m_robotClimber = new Climber();
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -52,6 +55,8 @@ public class RobotContainer {
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
         // drives motor with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
+        // drives motor with input from triggers on the opperator controller
+        m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }

src/main/java/frc4388/robot/commands/RunClimberWithTriggers.java

@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Climber;
+import frc4388.utility.controller.IHandController;
+
+public class RunClimberWithTriggers extends CommandBase {
+  private Climber m_climber;
+  private IHandController m_controller;
+
+  /**
+   * Uses input from opperator triggers to control climber motor
+   * @param subsystem the climber subsystem
+   * @param controller the driver controller
+   */
+  public RunClimberWithTriggers(Climber subsystem, IHandController controller) {
+    m_climber = subsystem;
+    m_controller = controller;
+    addRequirements(m_climber);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double rightTrigger = m_controller.getRightTriggerAxis();
+    double leftTrigger = m_controller.getLeftTriggerAxis();
+    double output = 0;
+    if (rightTrigger < .5) {
+      if(rightTrigger > leftTrigger) {
+        output = rightTrigger;
+      }
+      if (leftTrigger > rightTrigger) {
+        output = -leftTrigger;
+      }
+    } else {
+      output = rightTrigger;
+    }
+    m_climber.runClimber(output);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ClimberConstants;
+
+public class Climber extends SubsystemBase {
+  CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  /**
+   * Creates a new Climber.
+   */
+  public Climber() {
+    m_climberMotor.restoreFactoryDefaults();
+    
+    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+
+    m_forwardLimit.enableLimitSwitch(true);
+    m_reverseLimit.enableLimitSwitch(true);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs climber motor
+   * @param input the voltage to run motor at
+   */
+  public void runClimber(double input) {
+    m_climberMotor.set(input);
+  }
+}