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Climber subsystem version2 #4

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d4b7f44
finish ClimberSubsystem
Gary123abc Jan 29, 2026
2f41282
[ClimberSubsystem] feat:新增初版程式
Gary123abc Jan 29, 2026
f8fccfa
[ClimberSubsystem]fix:修改排版問題
Gary123abc Jan 29, 2026
17fee36
[ClimberSubsystem]fix:修改import順序
Gary123abc Jan 29, 2026
6db4d79
[ClimberSubsysten]fix:再次修改import
Gary123abc Jan 29, 2026
316e8de
[ClimberSubsystem]fix:再再次修改import
Gary123abc Jan 29, 2026
e3ef040
[ClimberSubsystem]fix:3度修改import.
Gary123abc Jan 29, 2026
5d96323
[ClimberSubsystem]feat:增加constants同時修改命名方式
Gary123abc Jan 29, 2026
e1a2d04
[ClimberSubsystem]fix:修改空格數及constants
Gary123abc Jan 29, 2026
0b630f6
[ClimberSubsystem]feat:新增簡易command
Gary123abc Jan 30, 2026
a97aa47
[ClimberSubsystem]:style修正排版
Gary123abc Jan 30, 2026
6939b0e
[ClimberSubsystem]style:再次修改排版
Gary123abc Jan 30, 2026
aee521c
[ClimberSubsystem]style:修改檔名
Gary123abc Jan 30, 2026
2ec7914
[Climber]style:修改檔名
Gary123abc Jan 30, 2026
cdfe1ab
[ClimberSubsystem]style:修改檔名
Gary123abc Jan 30, 2026
29bfb95
[ClimberSubsysyem]feat:新增簡易command
Gary123abc Feb 2, 2026
47db318
[ClimberSubsystem]feat:新增簡易command
Gary123abc Feb 2, 2026
4090adf
[ClimberSubsystem]sytle:修改排版
Gary123abc Feb 2, 2026
fddda67
[ClimberSubsystem]feat:換成DutyCycleEncoder
Gary123abc Feb 3, 2026
6926fe8
[Climber]feat:修改toHome邏輯
Gary123abc Feb 4, 2026
bfff155
[ClimberSubsystem]feat: 修改clamp
Gary123abc Feb 5, 2026
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10 changes: 10 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,4 +7,14 @@
/** Add your docs here. */
public class Constants {

public static class ClimberConstants {
public static final int motorId = 0;
public static final double kP = 0.01;
public static final double kI = 0.0;
public static final double kD = 0.0;
public static final int currentLimit = 80;
public static final double L1position = 25;
public static final double L2position = 50;

}
}
5 changes: 3 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,10 @@ public RobotContainer() {
configureBindings();
}

private void configureBindings() {}
private void configureBindings() {
}

public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
}
}
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@kennhung kennhung Feb 5, 2026

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啊，你這邊好像又不小心把一行刪掉了
你可以看 PR 的 Files changed 頁面確認一下跟原本的差在哪

86 changes: 80 additions & 6 deletions src/main/java/frc/robot/subsystems/ClimberSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,34 +4,108 @@

package frc.robot.subsystems;

import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.ClimberConstants;

public class ClimberSubsystem extends SubsystemBase {
/** Creates a new ClimberSubsystem. */
public ClimberSubsystem() {}

private void toLowRung() {
private final SparkMax climberMotor = new SparkMax(ClimberConstants.motorId, MotorType.kBrushless);
private final PIDController climberPID = new PIDController(
ClimberConstants.kP, ClimberConstants.kI, ClimberConstants.kD);
private final DutyCycleEncoder climberEncoder = new DutyCycleEncoder(1, 360, 0);

public ClimberSubsystem() {
SparkMaxConfig config = new SparkMaxConfig();
config
.idleMode(com.revrobotics.spark.config.SparkBaseConfig.IdleMode.kBrake)
.smartCurrentLimit(ClimberConstants.currentLimit);
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@kennhung kennhung Feb 3, 2026

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為什麼需要特別調整 SparkMax 預設的 CurrentLimit？

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@kennhung kennhung Feb 5, 2026

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@Gary123abc 可以回覆一下嗎？

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@Gary123abc Gary123abc Feb 6, 2026

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因為原本有要測馬達邏輯，所以就先設小一點，然後clamp的數值也是


climberMotor.configure(
config, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters);
}

public void toLowRung() {
climberPID.setSetpoint(ClimberConstants.L1position);
}

public void toMidRung() {
climberPID.setSetpoint(ClimberConstants.L2position);
}

public void climbUp() {
climberPID.setSetpoint(climberEncoder.get() + 10);
}

private void toMidRung() {
public void climbDown() {
climberPID.setSetpoint(climberEncoder.get() - 10);
}

public void toHome() {
climberPID.setSetpoint(0);
}

private void climbUp() {
public void resetEncoder() {
climberMotor.getEncoder().setPosition(0);
climberPID.reset();
climberPID.setSetpoint(0);
}
Comment on lines +58 to +62
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@BrianHu0925 BrianHu0925 Feb 5, 2026

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感覺有點怪怪的 你爬升用的是 dutycycle encoder 可是這裡 reset 的是 sparkMax 的


public Command toLowRungCmd() {
Command cmd = this.runEnd(() -> toLowRung(), () -> climberMotor.set(0));
cmd.setName("toLowRungCmd");
return cmd;
}

private void climbDown() {
public Command toMidRungCmd() {
Command cmd = this.runEnd(() -> toMidRung(), () -> climberMotor.set(0));
cmd.setName("toMidRungCmd");
return cmd;
}

public Command climbUpCmd() {
Command cmd = this.runEnd(() -> climbUp(), () -> climberMotor.set(0));
cmd.setName("climbUpCmd");
return cmd;
}

private void stopClimb() {
public Command climbDownCmd() {
Command cmd = this.runEnd(() -> climbDown(), () -> climberMotor.set(0));
cmd.setName("climbDownCmd");
return cmd;
}
Comment on lines +64 to +86
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@Hannahjjj97 Hannahjjj97 Feb 4, 2026

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你希望這些 command 要怎麼動阿

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@Gary123abc Gary123abc Feb 5, 2026 •
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按著的時候就可以往上往下，然後放開就停在那個高度，toLowRung和toMidRung是按一下就可以到L1和L2的高度


public Command stopClimbCmd() {
Command cmd = this.runOnce(() -> this.climberMotor.set(0));
cmd.setName("toHomeCmd");
return cmd;
}

public Command resetEncoderCmd() {
Command cmd = this.runOnce(() -> resetEncoder());
cmd.setName("resetEncoderCmd");
return cmd;
}

@Override
public void periodic() {
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@kennhung kennhung Feb 5, 2026

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希望可以在不同的東西之間加上空行，會比較方便其他人閱讀。（可以分成取得目前位置、控制馬達、把東西放上 Dashboard）

// This method will be called once per scheduler run

double currentPosition = climberEncoder.get();
double pidOutput = climberPID.calculate(currentPosition);
double limitedOutput = MathUtil.clamp(pidOutput, -0.5, 0.5);
climberMotor.set(limitedOutput);
SmartDashboard.putNumber("climberPosition", climberEncoder.get());
SmartDashboard.putNumber("climberTarget", climberPID.getSetpoint());
}
}
171 changes: 171 additions & 0 deletions vendordeps/Phoenix5-5.36.0.json
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@@ -0,0 +1,171 @@
{
"fileName": "Phoenix5-5.36.0.json",
"name": "CTRE-Phoenix (v5)",
"version": "5.36.0",
"frcYear": "2026",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json",
"requires": [
{
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
"offlineFileName": "Phoenix6-frc2026-latest.json",
"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json"
}
],
"conflictsWith": [
{
"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
"errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
"offlineFileName": "Phoenix6-replay-frc2026-latest.json"
},
{
"uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
"errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
"offlineFileName": "Phoenix5-replay-frc2026-latest.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.36.0"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.36.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.36.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.36.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.36.0",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.36.0",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.36.0",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "5.36.0",
"libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "api-cpp-sim",
"version": "5.36.0",
"libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.36.0",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}
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