Package frc.robot.subsystems.climber

Class Climber

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.climber.Climber

All Implemented Interfaces:

Sendable, Subsystem

public class Climber
extends SubsystemBase

Climber subsystem for controlling the robot's climbing mechanism.

This subsystem manages both the telescope extension and pivot rotation components of the climber. It uses bang-bang control for precise positioning and logs all relevant data for debugging and analysis.

See Also:

• ClimberIO

Field Summary

Fields

Modifier and Type	Field	Description
final frc.robot.subsystems.climber.ClimberInputsAutoLogged	inputs

Constructor Summary

Constructors

Constructor	Description
Climber(ClimberIO io)	Constructs a new Climber subsystem.

Method Summary

Modifier and Type	Method	Description
Command	moveTo(Supplier<Tuples.Tuple2<Angle,Distance>> state)	Set target climber state.
void	periodic()	Periodic method called regularly by the command scheduler.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

inputs

public final frc.robot.subsystems.climber.ClimberInputsAutoLogged inputs

Constructor Details

Climber

public Climber(ClimberIO io)

Constructs a new Climber subsystem.

Parameters:

io - the hardware interface for the climber subsystem

Method Details

periodic

public void periodic()

Periodic method called regularly by the command scheduler.

Processes input data from hardware and logs it for monitoring.

moveTo

public Command moveTo(Supplier<Tuples.Tuple2<Angle,Distance>> state)

Set target climber state.