GOODNESS! CLIMBER GOT UPDATED AND IMPLEMENTED!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! wow

src/main/java/frc/robot/Constants.java

@@ -332,9 +332,10 @@ public class ShooterRotaryConstants {
 
     public static final Angle TOLERANCE = Degrees.of(2.0);
 
-    public static final AngularVelocity CRUISE_VELOCITY = RadiansPerSecond.of(1);
-    public static final AngularAcceleration ACCELERATION = CRUISE_VELOCITY.div(0.1).per(Second);
-    public static final Velocity<AngularAccelerationUnit> JERK = ACCELERATION.per(Second);
+    // public static final AngularVelocity CRUISE_VELOCITY = Units.RadiansPerSecond.of(1);
+    // public static final AngularAcceleration ACCELERATION =
+    //     CRUISE_VELOCITY.div(0.1).per(Units.Second);
+    // public static final Velocity<AngularAccelerationUnit> JERK = ACCELERATION.per(Second);
 
     private static final double ROTOR_TO_SENSOR = (2.0 / 1.0);
     private static final double SENSOR_TO_MECHANISM = (2.0 / 1.0);
@@ -396,10 +397,10 @@ public static TalonFXConfiguration getFXConfig() {
       config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
 
       config.SoftwareLimitSwitch.ForwardSoftLimitEnable = false;
-      config.SoftwareLimitSwitch.ForwardSoftLimitThreshold = MAX_ANGLE.in(Rotations);
+      // config.SoftwareLimitSwitch.ForwardSoftLimitThreshold = MAX_ANGLE.in(Units.Rotaitons);
 
       config.SoftwareLimitSwitch.ReverseSoftLimitEnable = false;
-      config.SoftwareLimitSwitch.ReverseSoftLimitThreshold = MIN_ANGLE.in(Rotations);
+      // config.SoftwareLimitSwitch.ReverseSoftLimitThreshold = MIN_ANGLE.in(Units.Rotations);
 
       config.Feedback.RotorToSensorRatio = ROTOR_TO_SENSOR;
       config.Feedback.SensorToMechanismRatio = SENSOR_TO_MECHANISM;
@@ -656,6 +657,9 @@ public class ClimberConstants {
         RadiansPerSecond.of(2 * Math.PI).times(10.0);
     public static final AngularAcceleration ACCELERATION = CRUISE_VELOCITY.div(0.1).per(Second);
     public static final Velocity<AngularAccelerationUnit> JERK = ACCELERATION.per(Second);
+    public static final Distance BOTTOM = Inches.of(0.0);
+    public static final Distance MIDDLE = Inches.of(15.0);
+    public static final Distance TOP = Inches.of(30.0);
 
     public static final LinearMechCharacteristics CHARACTERISTICS =
         new LinearMechCharacteristics(
@@ -708,5 +712,6 @@ public static TalonFXConfiguration getFXConfig() {
     public static final AngularAcceleration ANGULAR_ACCELERATION =
         RotationsPerSecondPerSecond.of(1);
     public static final double CLIMB_SPEED = 1.0;
+    public static final double HARD_STOP_CURRENT_LIMIT = 50.0;
   }
 }

src/main/java/frc/robot/Robot.java

@@ -21,6 +21,9 @@
 import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.lib.Rebuilt2026.FuelSim;
@@ -41,6 +44,7 @@
 public class Robot extends LoggedRobot {
   private Command autonomousCommand;
   private RobotContainer robotContainer;
+  private Alert lowBatteryAlert = new Alert("The robot is low on battery!", AlertType.kWarning);
   public FuelSim fuelSim = new FuelSim();
 
   public Robot() {
@@ -122,7 +126,10 @@ public void robotPeriodic() {
     // This must be called from the robot's periodic block in order for anything in
     // the Command-based framework to work.
     CommandScheduler.getInstance().run();
-
+    if (0.0 <= RobotController.getBatteryVoltage()
+        && RobotController.getBatteryVoltage() <= 11.01) {
+      lowBatteryAlert.set(true);
+    }
     // Return to non-RT thread priority (do not modify the first argument)
     // Threads.setCurrentThreadPriority(false, 10);
   }

src/main/java/frc/robot/RobotContainer.java

@@ -27,13 +27,9 @@
 import frc.lib.W8.io.vision.VisionIOPhotonVision;
 import frc.lib.W8.io.vision.VisionIOPhotonVisionSim;
 import frc.lib.W8.mechanisms.flywheel.*;
-import frc.lib.W8.mechanisms.linear.LinearMechanism;
-import frc.lib.W8.mechanisms.linear.LinearMechanismReal;
-import frc.lib.W8.mechanisms.linear.LinearMechanismSim;
 import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
 import frc.lib.W8.mechanisms.rotary.RotaryMechanismReal;
 import frc.lib.W8.mechanisms.rotary.RotaryMechanismSim;
-import frc.robot.Constants.ClimberConstants;
 import frc.robot.Constants.HopperConstants;
 import frc.robot.Constants.IntakeFlywheelConstants;
 import frc.robot.Constants.IntakeFlywheelConstants.VisionConstants;
@@ -44,7 +40,6 @@
 import frc.robot.commands.DriveCommands;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.BallCounter;
-import frc.robot.subsystems.Climber;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Shooter;
@@ -71,7 +66,6 @@ public class RobotContainer {
   public final Drive drive;
   private final Hopper hopper;
   private final Shooter shooter;
-  private final Climber climber;
   private final Intake intake;
   private final BallCounter ballCounter;
   private final Vision vision;
@@ -124,14 +118,6 @@ public RobotContainer() {
                         Ports.ShooterRoller),
                     Constants.ShooterRotaryConstants.CONSTANTS,
                     java.util.Optional.empty()));
-        climber =
-            new Climber(
-                new LinearMechanismReal(
-                    new MotorIOTalonFX(
-                        ClimberConstants.MOTOR_NAME,
-                        ClimberConstants.getFXConfig(),
-                        Ports.ClimberLinearMechanism),
-                    ClimberConstants.CHARACTERISTICS));
 
         intake =
             new Intake(
@@ -204,17 +190,6 @@ public RobotContainer() {
                     true,
                     ShooterRotaryConstants.CONSTANTS,
                     java.util.Optional.empty()));
-        climber =
-            new Climber(
-                new LinearMechanismSim(
-                    new MotorIOTalonFXSim(
-                        ClimberConstants.MOTOR_NAME,
-                        ClimberConstants.getFXConfig(),
-                        Ports.ClimberLinearMechanism),
-                    ClimberConstants.DCMOTOR,
-                    ClimberConstants.CARRIAGE_MASS,
-                    ClimberConstants.CHARACTERISTICS,
-                    true));
 
         intake =
             new Intake(
@@ -258,10 +233,6 @@ public RobotContainer() {
                 new ModuleIO() {});
 
         hopper = new Hopper(new FlywheelMechanism() {});
-        climber =
-            new Climber(
-                new LinearMechanism(
-                    ClimberConstants.MOTOR_NAME, ClimberConstants.CHARACTERISTICS) {});
 
         shooter =
             new Shooter(

src/main/java/frc/robot/subsystems/Climber.java

@@ -1,15 +1,13 @@
 package frc.robot.subsystems;
 
-import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Distance;
-import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -26,37 +24,22 @@ public Climber(LinearMechanism io) {
     _io = io;
   }
 
-  public void Position(double position) {
-    Distance positionInches = Inches.of(position);
-    _io.runPosition(
-        ClimberConstants.CONVERTER.toAngle(positionInches),
-        ClimberConstants.ANGULAR_VELOCITY,
-        ClimberConstants.ANGULAR_ACCELERATION,
-        null,
-        PIDSlot.SLOT_0);
-  }
-
-  public Command runClimber(double Position) {
-    Distance positionInches = Inches.of(Position);
-    return this.runOnce(
-        () ->
-            _io.runPosition(
-                ClimberConstants.CONVERTER.toAngle(positionInches),
-                ClimberConstants.ANGULAR_VELOCITY,
-                ClimberConstants.ANGULAR_ACCELERATION,
-                ClimberConstants.JERK,
-                PIDSlot.SLOT_0));
-  }
-
-  public enum State {
-    IDLE(Units.MetersPerSecond.of(0.0)),
-    ASCENDING(Units.MetersPerSecond.of(ClimberConstants.CLIMB_SPEED)),
-    DESCENDING(Units.MetersPerSecond.of(-ClimberConstants.CLIMB_SPEED));
+  // public void Position(double position) {
 
-    private final LinearVelocity velocity;
+  //   Distance positionInches = Inches.of(position);
+  //   _io.runPosition(
+  //       ClimberConstants.CONVERTER.toAngle(positionInches),
+  //       ClimberConstants.ANGULAR_VELOCITY,
+  //       ClimberConstants.ANGULAR_ACCELERATION,
+  //       null,
+  //       PIDSlot.SLOT_0);
+  // }
 
-    private State(LinearVelocity velocity) {
-      this.velocity = velocity;
+  public boolean isAboveCurrentLimit() {
+    if (_io.getSupplyCurrent().in(Amps) > ClimberConstants.HARD_STOP_CURRENT_LIMIT) {
+      return true;
+    } else {
+      return false;
     }
   }
 
@@ -75,8 +58,15 @@ public void periodic() {
     _io.runVoltage(Volts.of(Math.sin(Timer.getFPGATimestamp()) * 0.25));
   }
 
-  public void runClimber() {
-    runClimber();
+  public Command runClimber() {
+    return this.runOnce(
+        () ->
+            _io.runPosition(
+                ClimberConstants.CONVERTER.toAngle(ClimberConstants.TOP),
+                ClimberConstants.CRUISE_VELOCITY,
+                ClimberConstants.ACCELERATION,
+                ClimberConstants.JERK,
+                PIDSlot.SLOT_0));
   }
 
   public boolean nearGoalposition() {