feat: climb

src/main/kotlin/com/frcteam3636/frc2025/CAN.kt

@@ -38,6 +38,7 @@ enum class CTREDeviceId(val num: Int, val bus: String) {
     RightElevatorMotor(12, "*"),
     ManipulatorMotor(13, "*"),
     FunnelMotor(14, "*"),
+    ClimbMotor(15, "*"),
     PigeonGyro(20, "*"),
     ElevatorEncoder(30, "*"),
 }

src/main/kotlin/com/frcteam3636/frc2025/Robot.kt

@@ -1,6 +1,7 @@
 package com.frcteam3636.frc2025
 
 import com.ctre.phoenix6.StatusSignal
+import com.frcteam3636.frc2025.subsystems.climb.Climb
 import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain
 import com.frcteam3636.frc2025.subsystems.drivetrain.poi.ReefBranchSide
 import com.frcteam3636.frc2025.subsystems.elevator.Elevator
@@ -139,6 +140,7 @@ object Robot : LoggedRobot() {
         Manipulator.register()
         Elevator.register()
         Funnel.register()
+        Climb.register()
     }
 
     /** Expose commands for autonomous routines to use and display an auto picker in Shuffleboard. */

src/main/kotlin/com/frcteam3636/frc2025/subsystems/climb/Climb.kt

@@ -0,0 +1,40 @@
+package com.frcteam3636.frc2025.subsystems.climb
+
+import com.frcteam3636.frc2025.Robot
+import edu.wpi.first.wpilibj2.command.Command
+import edu.wpi.first.wpilibj2.command.Subsystem
+import org.littletonrobotics.junction.Logger
+
+object Climb : Subsystem {
+    private val io: ClimbIO = when (Robot.model) {
+        Robot.Model.SIMULATION -> TODO()
+        Robot.Model.COMPETITION -> ClimbIOReal()
+        Robot.Model.PROTOTYPE -> TODO()
+    }
+
+    var inputs = LoggedClimbInputs()
+
+    override fun periodic() {
+        io.updateInputs(inputs)
+        Logger.processInputs("Climb", inputs)
+    }
+
+    fun up(): Command = startEnd(
+        {
+            io.setSpeed(0.50)
+        },
+        {
+            io.setSpeed(0.0)
+        }
+    )
+
+    fun down(): Command = startEnd(
+        {
+            io.setSpeed(-0.50)
+        },
+        {
+            io.setSpeed(0.0)
+        }
+    )
+
+}

src/main/kotlin/com/frcteam3636/frc2025/subsystems/climb/ClimbIO.kt

@@ -0,0 +1,39 @@
+package com.frcteam3636.frc2025.subsystems.climb
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration
+import com.ctre.phoenix6.signals.NeutralModeValue
+import com.frcteam3636.frc2025.CTREDeviceId
+import com.frcteam3636.frc2025.TalonFX
+import edu.wpi.first.units.Units.Amps
+import org.team9432.annotation.Logged
+
+@Logged
+open class ClimbInputs {
+    var climberCurrent = Amps.zero()!!
+}
+
+interface ClimbIO {
+    fun setSpeed(percent: Double)
+    fun updateInputs(inputs: ClimbInputs)
+}
+
+class ClimbIOReal : ClimbIO {
+    private var climbMotor = TalonFX(CTREDeviceId.ClimbMotor).apply {
+        configurator.apply(
+            TalonFXConfiguration().apply {
+                MotorOutput.apply {
+                    NeutralMode = NeutralModeValue.Brake
+                }
+            }
+        )
+    }
+
+    override fun setSpeed(percent: Double) {
+        assert(percent in -1.0..1.0)
+        climbMotor.set(percent)
+    }
+
+    override fun updateInputs(inputs: ClimbInputs) {
+        inputs.climberCurrent = climbMotor.supplyCurrent.value
+    }
+}

src/main/kotlin/com/frcteam3636/frc2025/subsystems/funnel/FunnelIO.kt

@@ -14,17 +14,17 @@ import edu.wpi.first.wpilibj.simulation.FlywheelSim
 import org.team9432.annotation.Logged
 
 @Logged
-open class FunnelInputs{
+open class FunnelInputs {
     var rollerVelocity = RotationsPerSecond.zero()!!
     var rollerCurrent = Amps.zero()!!
 }
 
-interface FunnelIO{
+interface FunnelIO {
     fun setSpeed(percent: Double)
     fun updateInputs(inputs: FunnelInputs)
 }
 
-class FunnelIOReal : FunnelIO{
+class FunnelIOReal : FunnelIO {
     private var rampMotor = TalonFX(CTREDeviceId.FunnelMotor).apply {
         configurator.apply(
             TalonFXConfiguration().apply {
@@ -54,7 +54,7 @@ class FunnelIOReal : FunnelIO{
         private val MOTOR_CURRENT_LIMIT = Amps.of(35.0)
     }
 }
-class FunnelIOSim : FunnelIO{
+class FunnelIOSim : FunnelIO {
     private var motor = DCMotor.getKrakenX60(1)
     private var system = LinearSystemId.createFlywheelSystem(motor, 1.0, 5.0)
     private var simMotor = FlywheelSim(system, motor, 0.0)