Climber

src/main/java/frc/robot/Constants.java

@@ -114,8 +114,18 @@ public static final class IntakeConstants {
   public static final class ShooterConstants {
     public static final int kTopShooterMotorPort = 35;
     public static final int kBottomShooterMotorPort = 20;
-  }
-
+  }    
+  public static class ClimberConstants {
+        public final static int leftForwardChannel = 0;
+        public final static int rightForwardChannel = 0;
+        public final static int leftReverseChannel = 1;
+        public final static int rightReverseChannel = 1;
+
+        public final static double minPressure = 50.0;
+        public final static double maxPressure = 120.0;
+
+
+    }
   public static final class VisionConstants {
     // TODO: Update cam pose relative to center of bot
     public static final Pose3d kCamPose = new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0));

src/main/java/frc/robot/RobotContainer.java

@@ -5,15 +5,12 @@
 package frc.robot;
 
 import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
 import com.pathplanner.lib.util.PIDConstants;
 import com.pathplanner.lib.util.ReplanningConfig;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
@@ -24,6 +21,7 @@
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.IOConstants;
+import frc.robot.subsystems.ClimberSubsystem;
 import frc.robot.commands.IntakeCommand;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
@@ -39,7 +37,8 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
   private final ShooterSubsystem m_shooterSubsystem = new ShooterSubsystem();
-  public final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem();
+  private final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem();
+  private final ClimberSubsystem m_climberSubsystem = new ClimberSubsystem();
 
   private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort);
   private final XboxController m_operatorController = new XboxController(IOConstants.kOperatorControllerPort);
@@ -100,7 +99,7 @@ public RobotContainer() {
    */
   private void configureBindings() {
     new JoystickButton(m_driverController, Button.kStart.value)
-        .onTrue(new InstantCommand(m_robotDrive::zeroHeading, m_robotDrive));
+        .onTrue(new InstantCommand(() -> m_robotDrive.zeroHeading(), m_robotDrive));
 
     // new JoystickButton(m_driverController, Button.kA.value).whileTrue(
     //     AutoBuilder.pathfindToPose(new Pose2d(2.8, 5.5, new Rotation2d()), new PathConstraints(
@@ -113,6 +112,11 @@ private void configureBindings() {
         .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(-0.75), m_shooterSubsystem))
         .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem));
 
+    new JoystickButton(m_operatorController, Button.kA.value)
+        .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(), m_robotDrive));
+    new JoystickButton(m_operatorController, Button.kB.value)
+        .onTrue(new InstantCommand(() -> m_climberSubsystem.reverse(), m_robotDrive));
+
     new Trigger(() -> {
       return m_driverController.getRightTriggerAxis() > 0.5;
     }).whileTrue(new IntakeCommand(m_intakeSubsystem));

src/main/java/frc/robot/subsystems/ClimberSubsystem.java

@@ -0,0 +1,76 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+import frc.robot.Constants.ClimberConstants;
+
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kOff;
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
+
+public class ClimberSubsystem {
+
+    private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(PneumaticsModuleType.REVPH,
+            ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel);
+    private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(PneumaticsModuleType.REVPH,
+            ClimberConstants.rightForwardChannel, ClimberConstants.rightReverseChannel);
+
+    private final Compressor m_compressor = new Compressor(PneumaticsModuleType.REVPH);
+
+    private boolean enableCompressor = true;
+
+    public ClimberSubsystem() {
+        m_leftSolenoid.set(kOff);
+        m_rightSolenoid.set(kOff);
+        m_compressor.disable();
+        m_compressor.enableAnalog(ClimberConstants.minPressure, ClimberConstants.maxPressure);
+    }
+
+    // Runs once every tick (~20ms)
+    public void periodic() {
+    }
+
+    /**
+     * Sets the state of the solenoid to off
+     */
+    public void off() {
+        m_leftSolenoid.set(kOff);
+        m_rightSolenoid.set(kOff);
+    }
+
+    /**
+     * Extends both arms
+     */
+    public void forward() {
+        m_leftSolenoid.set(kForward);
+        m_rightSolenoid.set(kForward);
+    }
+
+    /**
+     * Retracts both arms
+     */
+    public void reverse() {
+        m_leftSolenoid.set(kReverse);
+        m_rightSolenoid.set(kReverse);
+    }
+    /*
+     * Toggles the state of the climber
+     */
+
+    public void toggle() {
+        m_leftSolenoid.toggle();
+        m_rightSolenoid.toggle();
+    }
+
+    // Toggles the state of the compressor (on/off)
+    public void toggleCompresor() {
+        enableCompressor = !enableCompressor;
+        if (enableCompressor) {
+            m_compressor.enableAnalog(ClimberConstants.minPressure, ClimberConstants.maxPressure);
+        } else {
+            m_compressor.disable();
+        }
+    }
+}