climber updates

comp/src/main/java/org/team100/frc2024/Climber/Climber.java

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+
+package org.team100.frc2024.Climber;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Climber extends SubsystemBase {
+  /** Creates a new Climber. */
+
+  TalonFX climberMotor = new TalonFX(2);
+
+
+  CurrentLimitsConfigs currentConfigs = new CurrentLimitsConfigs();
+  TalonFXConfigurator talonFXConfigurator = climberMotor.getConfigurator();
+
+
+
+  public Climber() {
+    climberMotor.setNeutralMode(NeutralModeValue.Brake);
+    // currentConfigs.SupplyCurrentLimit = 10.0;
+    // currentConfigs.SupplyCurrentLimitEnable = true;
+    currentConfigs.StatorCurrentLimit = 50.0;
+    currentConfigs.StatorCurrentLimitEnable = true;
+    talonFXConfigurator.apply(currentConfigs);
+
+  }
+
+  public void setDutyCycle(double dutyCycle) {
+    climberMotor.set(dutyCycle);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

comp/src/main/java/org/team100/frc2024/Climber/ClimberRotate.java

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.team100.frc2024.Climber;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ClimberRotate extends Command {
+  /** Creates a new ClimberRotate. */
+  Climber climber;
+  double duty;
+  Supplier<Double> m_joystick;
+
+  public ClimberRotate(Climber c, double d, Supplier<Double> joystick) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    climber = c;
+    duty = d;
+    m_joystick = joystick;
+    addRequirements(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() {
+    climber.setDutyCycle(m_joystick.get());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    climber.setDutyCycle(0);
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

comp/src/main/java/org/team100/frc2024/RobotContainer.java

@@ -4,6 +4,8 @@
 import java.util.Map;
 import java.util.function.BooleanSupplier;
 
+import org.team100.frc2024.Climber.Climber;
+import org.team100.frc2024.Climber.ClimberRotate;
 import org.team100.lib.async.Async;
 import org.team100.lib.async.AsyncFactory;
 import org.team100.lib.commands.drivetrain.DriveToPoseSimple;
@@ -80,7 +82,10 @@ public class RobotContainer implements Glassy {
 
     private final SwerveModuleCollection m_modules;
     // private final Command m_auton;
+
+    //SUBSYSTEMS
     final SwerveDriveSubsystem m_drive;
+    final Climber m_climber;
 
     public RobotContainer(TimedRobot100 robot) throws IOException {
         final AsyncFactory asyncFactory = new AsyncFactory(robot);
@@ -147,6 +152,9 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
                 swerveLocal,
                 visionDataProvider);
 
+
+        m_climber = new Climber();
+
 
 
         ///////////////////////////
@@ -208,6 +216,7 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
 
         // DEFAULT COMMANDS
         m_drive.setDefaultCommand(driveManually);
+        m_climber.setDefaultCommand(new ClimberRotate(m_climber, 0.2, operatorControl::ramp));
 
 
         //DRIVER BUTTONS
@@ -219,6 +228,11 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
                         m_drive,
                         driveControllerFactory.fancyPIDF(PIDFlog),
                         swerveKinodynamics));
+
+
+        //OPERATOR BUTTONS
+        // whileTrue(operatorControl::ramp, new ClimberRotate(m_climber, 0.2 ));
+        // whileTrue(operatorControl::outtake, new ClimberRotate(m_climber, -0.2 ));
 
 
 

lib/src/main/java/org/team100/lib/hid/OperatorControl.java

@@ -28,8 +28,8 @@ default boolean intake() {
         return false;
     }
 
-    default boolean ramp() {
-        return false;
+    default double ramp() {
+        return 0.0;
     }
 
     // this exists to bind to commands we don't want to run,

lib/src/main/java/org/team100/lib/hid/OperatorControlProxy.java

@@ -91,7 +91,7 @@ public boolean feed() {
     }
 
     @Override
-    public boolean ramp() {
+    public double ramp() {
         return m_operatorControl.ramp();
     }
 

lib/src/main/java/org/team100/lib/hid/OperatorV2Control.java

@@ -54,8 +54,8 @@ public boolean outtake() {
     }
 
     @Override
-    public boolean ramp() {
-        return m_controller.getAButton();
+    public double ramp() {
+        return m_controller.getRightY();
     }
 
     @Override