Added climber subsystem

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;
+  }
+}