climber_subsystem.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <frc2/command/SubsystemBase.h>
 
#include <ctre/phoenix6/TalonFX.hpp>
 
class ClimberSubsystem : public frc2::SubsystemBase {
 public:
  explicit ClimberSubsystem(argos_lib::RobotInstance robotInstance);
 
  void Periodic() override;
  void Disable();
  void ClimberUp(double speed = 0.1);
  void ClimberDown(double speed = 0.1);
  void WinchIn(double speed = 0.75, bool stopPositionMotor = true);
  void ClimberStop();
  void PositionMotorStop();
  units::ampere_t GetPositionMotorCurrent();
  void SetClimberManualOverride(bool desiredOverrideState);
  [[nodiscard]] bool GetClimberManualOverride() const;
 
  void ClimberMoveToAngle(units::degree_t angle);
 
  [[nodiscard]] units::degree_t ClimberGetAngle();
 
  [[nodiscard]] bool ClimberIsAtSetPoint();
 
  void SetPrimaryBreakModeToBreak(bool value);
  void SetPositionMotorBreakModeToBreak(bool value);
 
  void WinchStop();
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  ctre::phoenix6::hardware::TalonFX m_climberWinch;
  ctre::phoenix6::hardware::TalonFX m_climberPositionMotor;
  argos_lib::RobotInstance m_robotInstance;
  bool m_climberManualOverride;
  void EnableSoftLimits();
  void DisableSoftLimits();
};