Beginnings of a climber subsystem

src/main/java/frc/robot/constants/ClimberConstants.java

@@ -0,0 +1,61 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class ClimberConstants {
+    // TODO Real values
+    public enum ClimberPositions {
+        kStow(0),
+        kClimbOffGround(0),
+        kUp(0);
+
+        private double positionMeters;
+
+        private ClimberPositions(double positionMeters) {
+            this.positionMeters = positionMeters;
+        }
+
+        public double getPositionMeters() {
+            return positionMeters;
+        }
+    }
+
+    public static final int kMotorCANID = 0;
+
+    public static final double kConversionFactor = 0;
+
+    public static final double kP = 0;
+    public static final double kI = 0;
+    public static final double kD = 0;
+    public static final double kS = 0;
+    public static final double kV = 0;
+    public static final double kA = 0;
+
+    public static final boolean kMotorInverted = false;
+
+    public static final int kCurrentLimit = 40;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig kMotorConfig = new SparkMaxConfig();
+
+    static {
+        kMotorConfig
+            .inverted(kMotorInverted)
+            .smartCurrentLimit(kCurrentLimit)
+            .idleMode(kIdleMode);
+        kMotorConfig.encoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        kMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kS, kV, kA);
+    }
+}