climber

src/main/java/frc/robot/RobotContainer.java

@@ -37,6 +37,8 @@
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.subsystems.vision.VisionIOPhotonVision;
+import frc.robot.subsystems.Climber.Climber;
+import frc.robot.subsystems.Climber.ClimberIOTalonFX;
 import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain;
 import frc.robot.subsystems.elevator.Elevator;
 import frc.robot.subsystems.elevator.ElevatorIOTalonFX;
@@ -72,13 +74,15 @@ public class RobotContainer {
   private final SendableChooser<Command> m_chooser;
   private final Shooter s_Shooter;
   private final Elevator s_Elevator;
+  private final Climber s_Climber;
   // private final Vision m_vision;
   public static AprilTagFieldLayout aprilTagLayout =
       AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
 
   public RobotContainer(){
     s_Shooter = new Shooter(new ShooterIOTalonFX());
     s_Elevator = new Elevator(new ElevatorIOTalonFX());
+    s_Climber = new Climber(new ClimberIOTalonFX());
 
     //Auto Named Commands
     NamedCommands.registerCommand("score", s_Shooter.shootTrough());
@@ -167,7 +171,8 @@ private void configureBindings() {
     joystick.back().onTrue(s_Elevator.reZero());
     // joystick.x().onTrue(s_Elevator.goToL3A()).onFalse(s_Elevator.goToL1());
     joystick.a().onTrue(s_Elevator.goToL2A()).onFalse(s_Elevator.goToL1());
-
+    joystick.povLeft().onTrue(s_Climber.climb()).onFalse(s_Climber.stop());
+    joystick.povRight().onTrue(s_Climber.climb()).onFalse(s_Climber.stop());
 
 
     joystick

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

@@ -0,0 +1,25 @@
+package frc.robot.subsystems.Climber;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Climber extends SubsystemBase {
+  private final ClimberIO m_io;
+
+  public Climber(ClimberIO io) {
+    m_io = io;
+  }
+
+  public Command climb() {
+    return this.run(() -> m_io.setSpeed(1));
+  }
+
+  public Command stop() {
+    return this.run(() -> m_io.setSpeed(0));
+  }
+
+  public Command lower() {
+    return this.run(() -> m_io.setSpeed(-1));
+  }
+
+}

src/main/java/frc/robot/subsystems/Climber/ClimberIO.java

@@ -0,0 +1,13 @@
+package frc.robot.subsystems.Climber;
+
+
+public interface ClimberIO {
+
+public static class ClimberIOinputs{
+  public double speed = 0.0;
+}
+
+public default void setSpeed(double speed) {}
+
+public default void setBrakeMode(boolean enableBrakeMode) {}
+}

src/main/java/frc/robot/subsystems/Climber/ClimberIOTalonFX.java

@@ -0,0 +1,33 @@
+package frc.robot.subsystems.Climber;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+public class ClimberIOTalonFX implements ClimberIO {
+  private final TalonFX m_Climbermotor;
+
+  public ClimberIOTalonFX() {
+    m_Climbermotor = new TalonFX(20, "CANivore2");
+
+    final TalonFXConfiguration climberMotorConfig = new TalonFXConfiguration();
+    climberMotorConfig.CurrentLimits.SupplyCurrentLimit = 40.0;
+    climberMotorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
+
+    m_Climbermotor.getConfigurator().apply(climberMotorConfig);
+  }
+
+  @Override
+  public void setSpeed(double speed) {
+    m_Climbermotor.setControl(new DutyCycleOut(speed));
+  }
+
+   @Override
+  public void setBrakeMode(boolean enableBrakeMode) {
+    final NeutralModeValue neutralModeValue =
+        enableBrakeMode ? NeutralModeValue.Brake : NeutralModeValue.Coast;
+        m_Climbermotor.setNeutralMode(neutralModeValue);
+  }
+
+}