Climber

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

@@ -30,6 +30,8 @@ public static class CANMotor {
             public static int RIGHT_DRIVE_B = 3;
             public static int LEFT_DRIVE_A = 4;
             public static int LEFT_DRIVE_B = 5;
+            public static int CLIMBER_A = 6;
+            public static int CLIMBER_B = 7;
         }
 
         public static class PWM {
@@ -93,6 +95,8 @@ public static class Component {
         public static Motor rightWheelB;
         public static Motor leftWheelA;
         public static Motor leftWheelB;
+        public static Motor climberA;
+        public static Motor climberB;
         public static TankDrive chassis;
         public static CustomPIDController drivePID;
     }
@@ -143,6 +147,15 @@ public RobotMap() {
         Component.chassisTalonEncoders = new EncoderPair(Component.leftWheelTalonEncoder, Component.rightWheelTalonEncoder);
         Component.chassisCANCoders = new EncoderPair(Component.leftWheelCANCoder, Component.rightWheelCANCoder);
 
+        /* Climber */
+        // TalonFX
+        CANTalonFX climberATalon = new CANTalonFX(Port.CANMotor.CLIMBER_A);
+        CANTalonFX climberBTalon = new CANTalonFX(Port.CANMotor.CLIMBER_B);
+
+        // Climber components
+        Component.climberA = new Motor("climberA", false, climberATalon);
+        Component.climberB = new Motor("climberB", false, climberBTalon);
+
         // General Chassis
         Component.chassis = new TankDrive("2022-Chassis", Component.leftWheelA, Component.leftWheelB,
                 Component.rightWheelA, Component.rightWheelB);

src/main/java/org/usfirst/frc4904/robot/commands/ClimberAOff.java

@@ -0,0 +1,15 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+
+public class ClimberAOff extends MotorIdle {
+
+  /**
+   * Set indexer motor speed to zero
+   */
+  public ClimberAOff() {
+    super(RobotMap.Component.climberA);
+  }
+}

src/main/java/org/usfirst/frc4904/robot/commands/ClimberAOn.java

@@ -0,0 +1,11 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+public class ClimberAOn extends MotorConstant {
+    public final static double DEFAULT_CLIMBER_MOTOR_A_SPEED = 0.5; //TODO: needs value
+    public ClimberAOn() {
+        super("ClimberAOn", RobotMap.Component.climberA, DEFAULT_CLIMBER_MOTOR_A_SPEED);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/ClimberBOff.java

@@ -0,0 +1,15 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+
+public class ClimberBOff extends MotorIdle {
+
+  /**
+   * Set indexer motor speed to zero
+   */
+  public ClimberBOff() {
+    super(RobotMap.Component.climberB);
+  }
+}

src/main/java/org/usfirst/frc4904/robot/commands/ClimberBOn.java

@@ -0,0 +1,11 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+public class ClimberBOn extends MotorConstant {
+    public final static double DEFAULT_CLIMBERA_MOTOR_B_SPEED = 0.5; //TODO: needs value
+    public ClimberBOn() {
+        super("ClimberBOn", RobotMap.Component.climberB, DEFAULT_CLIMBERA_MOTOR_B_SPEED);
+    }
+}