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this should be good FINALLY (calibrating climber) #70

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this should be good FINALLY (calibrating climber) #70

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44d933c
this should be good FINALLY
Mar 12, 2026
5836491
Merge branch 'main' into R2-151-add-calibrate-climber-command
Etohisgoodimo Mar 12, 2026
53c5c71
mayhaps i did something wrong
Mar 12, 2026
09dce17
readding prev code
rhit-collinkn Mar 15, 2026
9290300
Revert "readding prev code"
rhit-collinkn Mar 15, 2026
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70 changes: 31 additions & 39 deletions src/main/java/frc/robot/subsystems/Climber.java
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Original file line number Diff line number Diff line change
@@ -1,22 +1,47 @@
package frc.robot.subsystems;

import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.DegreesPerSecond;
import static edu.wpi.first.units.Units.Meters;

import com.pathplanner.lib.util.swerve.SwerveSetpoint;
import edu.wpi.first.math.filter.Debouncer;
import edu.wpi.first.math.filter.Debouncer.DebounceType;
import edu.wpi.first.units.AngleUnit;
import edu.wpi.first.units.VoltageUnit;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.lib.W8.io.motor.MotorIO.PIDSlot;
import frc.lib.W8.mechanisms.linear.LinearMechanism;
import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
import frc.robot.Constants.ClimberConstants;

public class Climber extends SubsystemBase {
private final RotaryMechanism _climber;
private Debouncer homedDebounce = new Debouncer(0.1, DebounceType.kRising);
private Trigger homedTrigger;
private AngleUnit Degrees;
private VoltageUnit Volts;
private LinearMechanism _io;
RotaryMechanism climber;
Distance goalDistance;
SwerveSetpoint STOW;
SwerveSetpoint setpoint;

public Climber(LinearMechanism io) {
_io = io;
_climber = climber;
homedTrigger =
new Trigger(
() ->
homedDebounce.calculate(
_climber
.getSupplyCurrent()
.gte(Amps.of(ClimberConstants.HARD_STOP_CURRENT_LIMIT))));
}

// public void Position(double position) {
Expand Down Expand Up @@ -72,44 +97,11 @@ public Command runClimber() {
}

public Command calibrateClimber() {
System.out.println(ClimberConstants.CALIBRATE_VELOCITY);
System.out.println(ClimberConstants.ACCELERATION);
return this.run(
() ->
_io.runVelocity(
ClimberConstants.CALIBRATE_VELOCITY,
ClimberConstants.ACCELERATION,
PIDSlot.SLOT_0))
.until(() -> isAboveCurrentLimit());
}

public Command stopClimber() {
return this.run(
() ->
_io.runVelocity(
DegreesPerSecond.of(0.0), ClimberConstants.ACCELERATION, PIDSlot.SLOT_0));
}

public Command raiseClimber() {
System.out.println(ClimberConstants.CRUISE_VELOCITY);
System.out.println(ClimberConstants.ACCELERATION);
return this.run(
() ->
_io.runVelocity(
ClimberConstants.CRUISE_VELOCITY,
ClimberConstants.ACCELERATION,
PIDSlot.SLOT_0))
.until(() -> isAboveCurrentLimit());
}

public Command lowerClimber() {
System.out.println(ClimberConstants.LOWER_VELOCITY);
System.out.println(ClimberConstants.ACCELERATION);
return this.run(
() ->
_io.runVelocity(
ClimberConstants.LOWER_VELOCITY, ClimberConstants.ACCELERATION, PIDSlot.SLOT_0))
.until(() -> isAboveCurrentLimit());
return Commands.sequence(
runOnce(() -> _climber.runVoltage(Voltage.ofBaseUnits(-1, Volts))),
Commands.waitUntil(homedTrigger),
runOnce(() -> _climber.setEncoderPosition(Angle.ofBaseUnits(0, Degrees))),
runOnce(() -> _climber.runVoltage(Voltage.ofBaseUnits(0, Volts))));
}

public boolean nearGoalposition() {
Expand Down
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