Climber code & generic comments #1
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| plugins { | ||
| id "java" | ||
| id "edu.wpi.first.GradleRIO" version "2025.3.1" | ||
| } | ||
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| java { | ||
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| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Climber; | ||
| import java.util.function.BooleanSupplier; | ||
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| /** | ||
| * This command is used to perform climbing with a joystick (speedSupplier is the joystick input value ) | ||
| */ | ||
| public class DefaultClimbCommand extends Command { | ||
| private final Climber climber; | ||
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| // DoubleSupplier objects need to be used, not double | ||
| private final BooleanSupplier readPress; | ||
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| public DefaultClimbCommand(Climber climber, BooleanSupplier speedSupplier) { | ||
| this.climber = climber; | ||
| this.readPress = speedSupplier; | ||
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| // Command requires the intake subsystem | ||
| addRequirements(climber); | ||
| } | ||
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| /** | ||
| * This method is run every 20 ms. | ||
| * <p> | ||
| * Send the input speeds to the appropriate intake/outtake method | ||
| */ | ||
| @Override | ||
| public void execute() { | ||
| // dont always command zero so other commands can use the intake | ||
| if (!DriverStation.isAutonomous()){ | ||
| if (readPress.getAsBoolean()) { | ||
| climber.climb(1.0); | ||
| } | ||
| else { | ||
| climber.climb(0.0); | ||
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| } | ||
| } | ||
| } | ||
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| /** When the intake method is interupted, set all velocities to zero. */ | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| climber.stop(); | ||
| } | ||
| } | ||
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| package frc.robot.subsystems; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkBase.PersistMode; | ||
| import com.revrobotics.spark.SparkBase.ResetMode; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
| import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; | ||
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| public class Climber extends SubsystemBase { | ||
| private final SparkMax climberMotor; | ||
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| // this is motor. "climber motor" is must had for all coding | ||
| public Climber() { | ||
| climberMotor = new SparkMax(19, MotorType.kBrushed); | ||
| //inverted is when you go back | ||
| //brake mode is so you don't fall down(climber) | ||
| SparkMaxConfig climbermotorConfig = new SparkMaxConfig(); | ||
| climbermotorConfig.inverted(false).idleMode(IdleMode.kBrake); | ||
| climbermotorConfig.smartCurrentLimit(45).secondaryCurrentLimit(65); //TODO: confirm these current limits are good, and convert to finals in the Constants Class | ||
| climberMotor.configure(climbermotorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); | ||
| } | ||
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| /** | ||
| * Sets the speeeeeeeeeeeeeeeed(BTW double is a noninteger ) | ||
| * @param speed how fast you want to go | ||
| */ | ||
| public void climb(double speed) { | ||
| climberMotor.set(speed); | ||
| } | ||
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| /** | ||
| * Stops the climber | ||
| */ | ||
| public void stop() { | ||
| climberMotor.set(0.); | ||
| } | ||
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| } |
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I'll just remove this - it's not actually used.