Improve Climber Code

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

@@ -13,6 +13,8 @@ import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.Servo;
+import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ClimberConstants;
 
@@ -20,16 +22,21 @@ public class Climber extends SubsystemBase {
   CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
   CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
 
+  Servo m_servo;
+  //Spark m_spark = new Spark(4);
+
   public boolean climberSafety = false;
 
   /**
    * Creates a new Climber.
    */
   public Climber() {
+    m_servo = new Servo(4);
+
     m_climberMotor.restoreFactoryDefaults();
 
     m_climberMotor.setIdleMode(IdleMode.kBrake);
-    m_climberMotor.setInverted(false);
+    m_climberMotor.setInverted(true);
     
     m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
     m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
@@ -48,6 +55,7 @@ public class Climber extends SubsystemBase {
    */
   public void runClimber(double input) {
     if(climberSafety){
+      input *= 1.0;
       m_climberMotor.set(input);
     }
     else{
@@ -66,4 +74,15 @@ public class Climber extends SubsystemBase {
   {
     climberSafety = false;
   }
+
+  /**
+   * @param shift true to enage rachet, false to disengage
+   */
+  public void shiftServo(boolean shift) {
+    if (shift) {
+      m_servo.setPosition(0.5);
+    } else {
+      m_servo.setPosition(0.56);
+    }
+  }
 }

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

@@ -17,7 +17,7 @@ import frc4388.robot.Constants.LevelerConstants;
 public class Leveler extends SubsystemBase {
   CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
 
-  private final Climber m_robotClimber = new Climber();
+  Climber m_climberSubsystem;
 
   /**
    * Creates a new Leveler.
@@ -39,11 +39,19 @@ public class Leveler extends SubsystemBase {
    * @param input the percent output to run motor at
    */
   public void runLeveler(double input) {
-    if(m_robotClimber.climberSafety){
+    if(m_climberSubsystem.climberSafety){
       m_levelerMotor.set(input);
     }
     else{
       m_levelerMotor.set(0);
     }
   }
+
+  /**
+   * Passes subsystem needed.
+   * @param subsystem Subsystem needed.
+   */
+  public void passRequiredSubsystem(Climber subsystem) {
+    m_climberSubsystem = subsystem;
+  }
 }