set up climber subsystem

src/main/java/com/stuypulse/robot/constants/Motors.java

@@ -24,6 +24,11 @@ public interface Motors {
 
     /** Classes to store all of the values a motor needs */
 
+    public interface Climber {
+        CANSparkMaxConfig LEFT_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake, 40);
+        CANSparkMaxConfig RIGHT_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake, 40);
+    }
+
     public static class TalonSRXConfig {
         public final boolean INVERTED;
         public final NeutralMode NEUTRAL_MODE;

src/main/java/com/stuypulse/robot/constants/Ports.java

@@ -12,4 +12,14 @@ public interface Gamepad {
         int OPERATOR = 1;
         int DEBUGGER = 2;
     }
+
+    public interface Climber {
+        int LEFT_MOTOR = 3;
+        int RIGHT_MOTOR = 4; // placeholders for now
+
+        int TOP_RIGHT_LIMIT = 0;
+        int TOP_LEFT_LIMIT = 0;
+        int BOTTOM_RIGHT_LIMIT = 0;
+        int BOTTOM_LEFT_LIMIT = 0;        
+    }
 }

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -14,4 +14,13 @@
  * We use StuyLib's SmartNumber / SmartBoolean in order to have tunable
  * values that we can edit on Shuffleboard.
  */
-public interface Settings {}
+public interface Settings {
+    public interface Climber {
+        double MIN_HEIGHT = 0.0;
+        double MAX_HEIGHT = 0.0;
+
+        public interface Encoder {
+            double ENCODER_MULTIPLIER = 0.0;
+        }
+    }
+}

src/main/java/com/stuypulse/robot/subsystems/climber/AbstractClimber.java

@@ -0,0 +1,49 @@
+/*
+ * climbs chain in endgame
+ * - 2 motors (12:1 gear ratio)
+ * - 2 encoders
+ * - 4 limit switches (bottom and top, two on each side)
+ * - hard stop at bottom of the lift
+ * 
+ * functions:
+ * - get current height of climber
+ * - go to specific heights
+ * - work with the gravity of the robot (has kG)
+ */
+
+package com.stuypulse.robot.subsystems.climber;
+
+import com.stuypulse.stuylib.network.SmartNumber;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public abstract class AbstractClimber extends SubsystemBase {
+    public static final AbstractClimber instance;
+
+    private SmartNumber targetHeight;
+
+    static {
+        instance = new Climber();
+    }
+
+    public static AbstractClimber getInstance() {
+        return instance;
+    }
+
+    public void setTargetHeight(double height) {
+        targetHeight.set(height);
+    }
+
+    public double getTargetHeight() {
+        return targetHeight.get();
+    }
+
+    public abstract double getHeight();
+
+    public abstract double getVelocity();
+
+    public abstract boolean atTop();
+    public abstract boolean atBottom();
+
+    public abstract void periodic();
+}

src/main/java/com/stuypulse/robot/subsystems/climber/Climber.java

@@ -0,0 +1,71 @@
+package com.stuypulse.robot.subsystems.climber;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.RelativeEncoder;
+import com.stuypulse.robot.constants.Motors;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import static com.stuypulse.robot.constants.Settings.Climber.Encoder.*;
+import static com.stuypulse.robot.constants.Ports.Climber.*;
+
+public class Climber extends AbstractClimber {
+
+    private final CANSparkMax rightMotor;
+    private final CANSparkMax leftMotor;
+
+    private final RelativeEncoder rightEncoder;
+    private final RelativeEncoder leftEncoder;
+
+    private final DigitalInput topRightLimit;
+    private final DigitalInput topLeftLimit;
+    private final DigitalInput bottomRightLimit;
+    private final DigitalInput bottomLeftLimit;
+
+    protected Climber() {
+        rightMotor = new CANSparkMax(RIGHT_MOTOR, MotorType.kBrushless);
+        leftMotor = new CANSparkMax(LEFT_MOTOR, MotorType.kBrushless);
+
+        rightEncoder = rightMotor.getEncoder();
+        leftEncoder = leftMotor.getEncoder();
+
+        rightEncoder.setPositionConversionFactor(ENCODER_MULTIPLIER);
+        leftEncoder.setPositionConversionFactor(ENCODER_MULTIPLIER);
+
+        topRightLimit = new DigitalInput(TOP_RIGHT_LIMIT);
+        topLeftLimit = new DigitalInput(TOP_LEFT_LIMIT);
+        bottomRightLimit = new DigitalInput(BOTTOM_RIGHT_LIMIT);
+        bottomLeftLimit = new DigitalInput(BOTTOM_LEFT_LIMIT);
+
+        Motors.Climber.LEFT_MOTOR.configure(leftMotor);
+        Motors.Climber.RIGHT_MOTOR.configure(rightMotor);
+    }
+
+	@Override
+	public double getHeight() {
+        return (leftEncoder.getPosition() + rightEncoder.getPosition()) / 2 * ENCODER_MULTIPLIER;
+    }
+
+    @Override
+    public double getVelocity() {
+        return (leftEncoder.getVelocity() + rightEncoder.getVelocity()) / 2 * ENCODER_MULTIPLIER;
+    }
+
+    @Override
+    public boolean atTop() {
+        return (!topRightLimit.get()) && (!topLeftLimit.get());
+    }
+
+    @Override
+    public boolean atBottom() {
+        return (!bottomRightLimit.get()) && (!bottomLeftLimit.get());
+    }
+
+	@Override
+	public void periodic() {
+        SmartDashboard.putNumber("Climber/Target Height", getTargetHeight());
+        SmartDashboard.putNumber("Climber/Height", getHeight());
+	}
+}