Merge branch 'main' into 122-Add-Linked-waypoints

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

@@ -380,6 +380,8 @@ public class ClimbConstants { //TODO: find real values
         public static final double CLIMB_PID_SETPOINT_EXTENDED = 10; //TODO: find real values
         public static final double CLIMB_PID_SETPOINT_RETRACTED = 0;
         public static final double CLIMB_EXTENSION_TOLERANCE = 0;
+
+        public static final double CLIMB_TEST_POWER = .1;
     }
 
     public class LEDsConstants {

src/main/java/frc/robot/command/tests/ClimbSystemTest.java

@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command.tests;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.command.tests.testCommands.ClimbTest;
+import frc.robot.subsystems.Climber;
+import frc.thunder.command.TimedCommand;
+import frc.thunder.testing.SystemTestCommandGroup;
+
+public class ClimbSystemTest extends SystemTestCommandGroup {
+
+  public ClimbSystemTest(Climber climber) {
+    super(
+      new SequentialCommandGroup(
+        new WaitCommand(0.5),
+        new TimedCommand(new ClimbTest(climber, 1), 1), // UP
+        new WaitCommand(1),
+        new TimedCommand(new ClimbTest(climber, -1), 1) // DOWN
+      )
+    );
+  }
+
+}

src/main/java/frc/robot/command/tests/testCommands/ClimbTest.java

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command.tests.testCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Climber;
+import frc.robot.Constants.ClimbConstants;
+
+public class ClimbTest extends Command {
+
+  private Climber climber;
+  private double power;
+
+  /**
+   * System test command for testing climb motors
+   * @param climber climber subsystem 
+   * @param power power to control up or down
+   */
+  public ClimbTest(Climber climber, double power) {
+    this.climber = climber;
+    this.power = power;
+
+    addRequirements(climber);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    climber.setPower(ClimbConstants.CLIMB_TEST_POWER * power);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    climber.setPower(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}