Merge pull request #10 from FRC3636/cliber

feat: climber system

src/main/java/com/frcteam3636/frc2024/CAN.kt

@@ -17,6 +17,8 @@ enum class REVMotorControllerId(val num: Int) {
     OverTheBumperIntakeArm(0),
     OverTheBumperIntakeFeed(0),
     UnderTheBumperIntakeRoller(0),
+    ClimberMotor(0),
+
 }
 
 fun CANSparkMax(id: REVMotorControllerId, type: CANSparkLowLevel.MotorType) = CANSparkMax(id.num, type)

src/main/java/com/frcteam3636/frc2024/subsystems/climber/Climber.kt

@@ -0,0 +1,18 @@
+package com.frcteam3636.frc2024.subsystems.climber
+
+
+import edu.wpi.first.wpilibj.RobotBase
+import edu.wpi.first.wpilibj2.command.Subsystem
+
+class Climber: Subsystem {
+    private var io: ClimberIO = if (RobotBase.isReal()) {
+        ClimberIOReal()
+    } else {
+        TODO()
+    }
+    var inputs = ClimberIO.ClimberInputs()
+
+    override fun periodic() {
+        io.updateInputs(inputs)
+    }
+}

src/main/java/com/frcteam3636/frc2024/subsystems/climber/ClimberIO.kt

@@ -0,0 +1,43 @@
+package com.frcteam3636.frc2024.subsystems.climber
+
+import com.frcteam3636.frc2024.can.CANSparkMax
+import com.frcteam3636.frc2024.can.REVMotorControllerId
+import com.revrobotics.CANSparkLowLevel
+import com.revrobotics.SparkAbsoluteEncoder
+import edu.wpi.first.math.geometry.Rotation2d
+import edu.wpi.first.math.util.Units
+import org.littletonrobotics.junction.AutoLog
+
+interface ClimberIO {
+    @AutoLog
+    class ClimberInputs {
+        var climberPosition = Rotation2d()
+    }
+
+    fun updateInputs(inputs: ClimberInputs)
+
+    fun moveClimber(speed: Double) {}
+}
+class ClimberIOReal: ClimberIO {
+    companion object {
+        const val CLIMBER_GEAR_RATIO = 1.0
+    }
+
+
+    private var climberMotor = CANSparkMax(REVMotorControllerId.ClimberMotor, CANSparkLowLevel.MotorType.kBrushless).apply{
+        burnFlash()
+    }
+    private val climberEncoder = climberMotor.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle).apply {
+        velocityConversionFactor = Units.rotationsToRadians(1.0) * CLIMBER_GEAR_RATIO / 60
+        positionConversionFactor = Units.rotationsToRadians(1.0) * CLIMBER_GEAR_RATIO
+    }
+
+    override fun updateInputs(inputs: ClimberIO.ClimberInputs) {
+        inputs.climberPosition = Rotation2d(climberEncoder.position)
+    }
+
+
+    override fun moveClimber(speed: Double) {
+        climberMotor.set(speed)
+    }
+}