Package frc.robot.subsystems.climber

Class ClimberReal

java.lang.Object

frc.robot.subsystems.climber.ClimberReal

All Implemented Interfaces:

ClimberIO

public class ClimberReal
extends Object
implements ClimberIO

Real hardware implementation of the climber subsystem.

This class interfaces with actual TalonFX motor controllers for both the telescope extension and pivot rotation mechanisms. It configures motors with Phoenix 6 features including motion magic control for the pivot and voltage control for the telescope.

See Also:

• ClimberIO

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.climber.ClimberIO

ClimberIO.ClimberInputs

Constructor Summary

Constructors

Constructor	Description
ClimberReal()	Constructs a new ClimberReal instance and configures all motors and sensors.

Method Summary

Modifier and Type	Method	Description
void	setAnglePivot(Angle angle)	Sets the target angle for the pivot mechanism using motion magic control.
void	setHeightTelescope(Distance height)	Sets the target height for the telescope mechanism using pid
void	setVoltagePivot(double volts)	Sets the voltage for the pivot motor.
void	setVoltageTelescope(double volts)	Sets the voltage for the telescope motor.
void	updateInputs(ClimberIO.ClimberInputs inputs)	Updates the input container with current sensor readings from all motors.

Methods inherited from class java.lang.Object

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

Constructor Details

ClimberReal

public ClimberReal()

Constructs a new ClimberReal instance and configures all motors and sensors.

Method Details

setVoltageTelescope

public void setVoltageTelescope(double volts)

Sets the voltage for the telescope motor.

Specified by:

setVoltageTelescope in interface ClimberIO

Parameters:

volts - the voltage to apply to the telescope motor

setHeightTelescope

public void setHeightTelescope(Distance height)

Sets the target height for the telescope mechanism using pid

Specified by:

setHeightTelescope in interface ClimberIO

Parameters:

height - the desired height in any distance unit

setVoltagePivot

public void setVoltagePivot(double volts)

Sets the voltage for the pivot motor.

Specified by:

setVoltagePivot in interface ClimberIO

Parameters:

volts - the voltage to apply to the pivot motor

setAnglePivot

public void setAnglePivot(Angle angle)

Sets the target angle for the pivot mechanism using motion magic control.

Specified by:

setAnglePivot in interface ClimberIO

Parameters:

angle - the desired pivot angle in any angle unit

updateInputs

public void updateInputs(ClimberIO.ClimberInputs inputs)

Updates the input container with current sensor readings from all motors.

Refreshes all status signals and updates the input object with current positions, velocities, voltages, and currents for both mechanisms.

Specified by:

updateInputs in interface ClimberIO

Parameters:

inputs - the input container to populate with current hardware state