pigmice2733 / frc-2022 Goto Github PK

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The climber branch already exists, and the subsystem and all of its commands have been built there. Once a prototype (or a final version) for the climber is constructed, we can start testing the existing code and making minor edits as needed.

Initial implementation should include 4 motors. Two will be for the lifting set of arms, and two will be for the rotating arms. The two motors in a pair should spin in opposite directions (motor.setInverted(true) on the motors on one side). One motor in each pair should be the leader and the other should be the follower (the follower will copy whichever instructions get sent to the leader) by calling follower.follow(leader).

Climb commands will be necessary later, but we don't have to worry about that now, or until we have the robot built.

NOTE: The design is not finalized and is subject to change.
Will likely have two motors that need to spin at the same time in order to shoot using a flywheel.
Needs to be able to be toggled, as well as set to be enabled or disabled.
Know when the flywheels are at the target speed (either through motor encoders or just waiting).

NOTE: This design is not finalized and is subject to change.
Probably will use one or two motors.
Needs to be able to be toggled, as well as set to be enabled or disabled.

Initial implementation with 4 motors.
Create ArcadeDrive and TankDrive methods in Drivetrain, as well as commands for the drivetrain (look at bunnybot-2021 for reference).
Add constants to Constants.java.