More work bringing 2026 into 2027, ignoring errors for pos/vel conversion factor for now

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

@@ -0,0 +1,88 @@
+package first.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.epilogue.Logged;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkLowLevel.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import first.robot.constants.ClimberConstants;
+import first.robot.constants.ClimberConstants.ClimberPositions;
+
+@Logged
+public class Climber extends SubsystemBase {
+    private SparkMax motor;
+
+    private RelativeEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private ClimberPositions targetPosition;
+
+    public Climber() {
+        motor = new SparkMax(
+            ClimberConstants.kCANPort,
+            ClimberConstants.kMotorCANID, 
+            MotorType.kBrushless
+        );
+
+        motor.configure(
+            ClimberConstants.kMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        encoder = motor.getEncoder();
+
+        controller = motor.getClosedLoopController();
+
+        targetPosition = null;
+    }
+
+    public double getTargetPositionMeters() {
+        if (targetPosition == null) {
+            return -1;
+        } else {
+            return targetPosition.getPositionMeters();
+        }
+    }
+
+    public double getCurrentPositionMeters() {
+        return encoder.getPosition().get();
+    }
+
+    public boolean isAtSetpoint() {
+        return controller.isAtSetpoint().get();
+    }
+
+    public Command maintainPosition(ClimberPositions position) {
+        return run(() -> {
+            targetPosition = position;
+
+            controller.setSetpoint(
+                position.getPositionMeters(), 
+                ControlType.kPosition
+            );
+        });
+    }
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            targetPosition = null;
+
+            motor.setThrottle(speed.getAsDouble());
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+}