Reefscape2025/frc.robot.subsystems/Climber

Climber

public class Climber extends SubsystemBase

The PivotSubsystem class is a subsystem that interfaces with the pivot system to provide control over the pivot motors. This subsystem is a Singleton, meaning that only one instance of this class is created and shared across the entire robot code.

Functions

getInstance

public static Climber getInstance()

Returns the Singleton instance of this PivotSubsystem.

getPivotPosValue

public double getPivotPosValue()

Get the position of the elevator motor

initializeAlarms

public void initializeAlarms()

movePivot

public void movePivot(double velocity)

Move the pivot motor based on the velocity

periodic

public void periodic()

resetEncoders

public void resetEncoders()

Soft resets the encoders on the elevator motors

setMotorPosition

public void setMotorPosition(double motorPos)

Set the position of the left and right pivot motors

setPivot

public void setPivot(double pos)

Set the pivot motor to a specific position

stopMotor

public void stopMotor()

Stops the pivot motor

toggleSoftStop

public void toggleSoftStop()

Toggles the soft stop for the elevator motor