Climb#6
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danthegreat78 wants to merge 6 commits into
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pigrammer3
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Feb 3, 2026
| import com.revrobotics.spark.SparkBase.ControlType; | ||
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| public class Climber extends SubsystemBase { | ||
| private static final double DEPLOY_POSITION = 3.00; // Change this value as needed (Unit is rotations) |
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These are constants, so they should go in Constants.java.
| private final SparkClosedLoopController climberController; | ||
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| public Climber(int ClimberMotorID) { | ||
| //Motor initialization |
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Comments are only for when the code can't explain itself; this code can explain itself. Additionally, there should be a space after the //.
| climberController = climberMotor.getClosedLoopController(); | ||
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| SparkMaxConfig config = new SparkMaxConfig(); | ||
| config.smartCurrentLimit(20); //20 amps |
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Current limit should go in constants; default should be ~40 amps.
| SparkMaxConfig config = new SparkMaxConfig(); | ||
| config.smartCurrentLimit(20); //20 amps | ||
| config.idleMode(IdleMode.kBrake); | ||
| climberMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); // Note to set PID in this line |
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Switch to kPersistParameters.
| climberMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); // Note to set PID in this line | ||
| } | ||
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| public void gotoPOS(double position) { |
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goToPos, if you're going with this naming. However, note that that's not actually what you're doing; you're setting the position reference.
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Added climber subsystem.