Merge branch 'master' into add-intake-extender

2026-06-09 08:48:01 -06:00 · 2020-02-08 22:27:27 +00:00
parent 92feb32651 68a39f8eca
commit b427841cd3
5 changed files with 133 additions and 15 deletions
@@ -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(false);
+    m_reverseLimit.enableLimitSwitch(false);
+  }
+
+  @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);
+  }
+}