climber_subsystem.h

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#pragma once
#include <argos_lib/config/config_types.h>
#include <frc2/command/SubsystemBase.h>
#include <units/length.h>
 
#include <ctre/phoenix6/TalonFX.hpp>
#include <ctre/phoenix6/configs/Configs.hpp>
 
class ClimberSubsystem : public frc2::SubsystemBase {
 public:
  explicit ClimberSubsystem(argos_lib::RobotInstance robotInstance);
 
  void Periodic() override;
 
  void UpdateClimberHome();
 
  [[nodiscard]] bool IsClimberHomed() const;
 
  [[nodiscard]] bool IsClimberManualOverride() const;
 
  units::inch_t GetClimberExtension();
 
  [[nodiscard]] bool IsClimberMoving();
 
  void SetHomeFailed(bool failed);
 
  [[nodiscard]] bool GetHomeFailed() const;
 
  void ClimberMove(double speed, bool force = false);
 
  void SetHeight(units::inch_t height);
 
  void SetClimberManualOverride(bool state);
 
  void Disable();
 
  void Stop();
 
  bool IsClimberAtSetPoint();
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  ctre::phoenix6::hardware::TalonFX m_primaryMotor;
  ctre::phoenix6::hardware::TalonFX m_secondaryMotor;
  argos_lib::RobotInstance m_robotInstance;
  bool m_climberHomed;
  bool m_climberHomeFailed;
  bool m_climberManualOverride;
 
  void EnableClimberSoftLimits();
  void DisableClimberSoftLimits();
};