reworked climber to use falcons

src/main/cpp/RobotContainer.cpp

@@ -51,6 +51,8 @@ void RobotContainer::ConfigureBindings() {
     }
   ));
 
+  //driverController.POVDown().WhileTrue(climberSubsystem.ManualControl([] { return 1; }, [] { return -1; }));
+
   (driverController.LeftTrigger() && frc2::RobotModeTriggers::Teleop()).OnTrue(IntakeNote());
   (!driverController.LeftTrigger() && !intakeSubsystem.TouchedNote() && frc2::RobotModeTriggers::Teleop())
       .OnTrue(frc2::cmd::Sequence(intakeSubsystem.Stop(),

src/main/cpp/subsystems/ClimberSubsystem.cpp

@@ -0,0 +1,59 @@
+// Copyright (c) FRC 2053.
+// Open Source Software; you can modify and/or share it under the terms of
+// the MIT License file in the root of this project
+
+#include "subsystems/ClimberSubsystem.h"
+
+#include <frc2/command/Commands.h>
+
+#include "frc/smartdashboard/SmartDashboard.h"
+#include "wpi/sendable/SendableBuilder.h"
+#include <frc/DataLogManager.h>
+
+ClimberSubsystem::ClimberSubsystem() {
+  ConfigureMotor();
+}
+
+void ClimberSubsystem::ConfigureMotor() {
+  ctre::phoenix6::configs::TalonFXConfiguration climberConfig{};
+
+  climberConfig.MotorOutput.NeutralMode =
+      ctre::phoenix6::signals::NeutralModeValue::Brake;
+
+  ctre::phoenix::StatusCode leftclimberConfigResult =
+      leftClimberMotor.GetConfigurator().Apply(climberConfig);
+
+  frc::DataLogManager::Log(
+      fmt::format("Configured left climber motor. Result was: {}\n",
+                  leftclimberConfigResult.GetName()));
+
+  ctre::phoenix::StatusCode rightClimberConfigResult =
+      rightClimberMotor.GetConfigurator().Apply(climberConfig);
+
+  frc::DataLogManager::Log(
+      fmt::format("Configured right climber motor. Result was: {}\n",
+                  rightClimberConfigResult.GetName()));
+}
+
+frc2::CommandPtr ClimberSubsystem::ManualControl(
+    std::function<double()> left, std::function<double()> right) {
+  return frc2::cmd::RunEnd(
+      [this, left, right] {
+        leftClimberMotor.Set(left());
+        rightClimberMotor.Set(right());
+      },
+      [this] {
+        leftClimberMotor.Set(0);
+        rightClimberMotor.Set(0);
+      },
+      {this});
+}
+
+// This method will be called once per scheduler run
+void ClimberSubsystem::Periodic() {
+
+}
+
+void ClimberSubsystem::SimulationPeriodic() {
+
+}

src/main/include/RobotContainer.h

@@ -14,6 +14,7 @@
 #include "str/Vision.h"
 #include "subsystems/FeederSubsystem.h"
 #include "subsystems/SwerveSubsystem.h"
+#include "subsystems/ClimberSubsystem.h"
 
 class RobotContainer {
  public:
@@ -43,6 +44,7 @@ class RobotContainer {
   ShooterSubsystem shooterSubsystem;
   IntakeSubsystem intakeSubsystem;
   FeederSubsystem feederSubsystem;
+  //ClimberSubsystem climberSubsystem;
   str::Vision vision;
   str::NoteVisualizer noteVisualizer;
 

src/main/include/constants/ClimberConstants.h

@@ -0,0 +1,10 @@
+#pragma once
+
+namespace consts {
+namespace climber {
+namespace can_ids {
+inline constexpr int LEFT_MOTOR = 22;
+inline constexpr int RIGHT_MOTOR = 23;
+}  // namespace can_ids
+}
+}

src/main/include/subsystems/ClimberSubsystem.h

@@ -0,0 +1,31 @@
+// Copyright (c) FRC 2053.
+// Open Source Software; you can modify and/or share it under the terms of
+// the MIT License file in the root of this project
+
+#pragma once
+
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <ctre/phoenix6/TalonFX.hpp>
+
+#include <functional>
+#include <memory>
+
+#include "constants/ClimberConstants.h"
+
+class ClimberSubsystem : public frc2::SubsystemBase {
+ public:
+  ClimberSubsystem();
+
+  void ConfigureMotor();
+
+  void Periodic() override;
+  void SimulationPeriodic() override;
+  frc2::CommandPtr ManualControl(std::function<double()> left,
+                                 std::function<double()> right);
+ private:
+  ctre::phoenix6::hardware::TalonFX leftClimberMotor{consts::climber::can_ids::LEFT_MOTOR,
+                                                "rio"};
+  ctre::phoenix6::hardware::TalonFX rightClimberMotor{consts::climber::can_ids::RIGHT_MOTOR,
+                                                "rio"};
+};