[#422] fix diffs with main

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

@@ -28,12 +28,12 @@
 import frc.robot.Constants.TunerConstants;
 import frc.robot.Constants.VisionConstants;
 import frc.robot.command.ChasePieces;
-import frc.robot.command.ClimbAlign;
 import frc.robot.command.Collect;
 import frc.robot.command.CollectAndGo;
 import frc.robot.command.CollisionDetection;
 import frc.robot.command.HasPieceAuto;
 import frc.robot.command.Index;
+import frc.robot.command.ManualClimb;
 import frc.robot.command.MoveToPose;
 import frc.robot.command.PathFindToAuton;
 import frc.robot.command.PathToPose;
@@ -228,8 +228,6 @@ protected void configureButtonBindings() {
 
 		new Trigger(() -> driver.getPOV() == 0).toggleOnTrue(leds.enableState(LED_STATES.DISABLED));
 
-		new Trigger(driver::getBButton).whileTrue(new ClimbAlign(drivetrain));
-
 		/* copilot */
 		new Trigger(coPilot::getBButton)
 				.whileTrue(new InstantCommand(() -> flywheel.stop(), flywheel)

src/main/java/frc/robot/command/ManualClimb.java

@@ -0,0 +1,42 @@
+package frc.robot.command;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Climber;
+
+public class ManualClimb extends Command {
+
+    private Climber climber;
+    private DoubleSupplier leftPower;
+    private DoubleSupplier rightPower;
+
+    /**
+     * Creates a new ManualClimb.
+     * @param leftPower supplier for left motor power
+     * @param rightPower supplier for right motor power
+     * @param climber subsystem
+     */
+    public ManualClimb(DoubleSupplier leftPower, DoubleSupplier rightPower, Climber climber) {
+        this.climber = climber;
+        this.leftPower = leftPower;
+        this.rightPower = rightPower;
+
+        addRequirements(climber);
+    }
+
+    @Override
+    public void execute() {
+        climber.setPower(leftPower.getAsDouble(), rightPower.getAsDouble());
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        climber.stop();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}