From 3d02d72ea745d389cf375e1837ed55cd9415db4e Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Wed, 17 Jan 2024 20:31:15 +0200
Subject: [PATCH 01/28] trap speed command

added trap speed command
---
 .../java/frc/robot/commands/setSpeedTrap.java | 41 +++++++++++++++++++
 1 file changed, 41 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/setSpeedTrap.java

diff --git a/src/main/java/frc/robot/commands/setSpeedTrap.java b/src/main/java/frc/robot/commands/setSpeedTrap.java
new file mode 100644
index 0000000..4ebc496
--- /dev/null
+++ b/src/main/java/frc/robot/commands/setSpeedTrap.java
@@ -0,0 +1,41 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.SubsystemTrap;
+
+public class setSpeedTrap extends Command {
+  private final SubsystemTrap subsystemTrap = SubsystemTrap.getInstance();
+  private final 
+  double speed;
+  /** Creates a new setSpeedTrap. */
+  public setSpeedTrap(double speed) {
+    this.addRequirements(subsystemTrap);
+    this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.subsystemTrap.setSpeed(speed);
+    
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 9b95c074a896abe11c91913aabcfa99957b46267 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Wed, 17 Jan 2024 20:31:58 +0200
Subject: [PATCH 02/28] trap subsystm

added trap subsystem
---
 .../frc/robot/subsystems/SubsystemTrap.java   | 43 +++++++++++++++++++
 1 file changed, 43 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/SubsystemTrap.java

diff --git a/src/main/java/frc/robot/subsystems/SubsystemTrap.java b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
new file mode 100644
index 0000000..31ca806
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
@@ -0,0 +1,43 @@
+// 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class SubsystemTrap extends SubsystemBase {
+  private WPI_TalonSRX trapMotor;
+  double speed;
+   private static SubsystemTrap instance;
+  
+  public static SubsystemTrap getInstance()
+  {
+   if (instance == null)
+    {
+      instance = new SubsystemTrap();
+    }
+    return instance;
+  }
+
+
+  /** Creates a new SubsystemTrap. */
+  public SubsystemTrap() {
+
+  }
+  public void setSpeed(double speed){
+    trapMotor.set(speed);
+    
+  }
+
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From cc5c352491d34defc8837a7deae3767790222677 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 00:42:03 +0200
Subject: [PATCH 03/28] set speed command to both climbing motors

added command
---
 .../commands/ClimbingMotorsSetSpeed.java      | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java b/src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java
new file mode 100644
index 0000000..38db2c6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java
@@ -0,0 +1,40 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+public class ClimbingMotorsSetSpeed extends Command {
+  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
+  double speed;
+  /** Creates a new ClimbingMotorsSetSpeed. */
+  public ClimbingMotorsSetSpeed(double speed) {
+    this.addRequirements(climbingSubsystem);
+    this.speed = speed;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.climbingSubsystem.setSpeedClimbing(speed);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 177e7456828735e66a76b408e9edbc52f9bf09bb Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 00:42:34 +0200
Subject: [PATCH 04/28] command to left motor climbing

added left motor climbing command
---
 .../commands/LeftMotorClimbingSetSpeed.java   | 39 +++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java b/src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java
new file mode 100644
index 0000000..a55d402
--- /dev/null
+++ b/src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java
@@ -0,0 +1,39 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+public class LeftMotorClimbingSetSpeed extends Command {
+   private final ClimbingSubsystem leftMotorClimbing = ClimbingSubsystem.getInstance();
+  double speed;
+  /** Creates a new LeftMotorClimbingSetSpeed. */
+  public LeftMotorClimbingSetSpeed(double speed) {
+    this.addRequirements(leftMotorClimbing);
+    this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.leftMotorClimbing.setSpeedClimbing(speed);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 1ae728e0e861af1bbde408b68ea6ef8a9d0c645b Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 00:42:54 +0200
Subject: [PATCH 05/28] right motor climbing command

added right motor climbing command
---
 .../commands/RightMotorClimbingSetSpeed.java  | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java b/src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java
new file mode 100644
index 0000000..9198cf0
--- /dev/null
+++ b/src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java
@@ -0,0 +1,40 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+public class RightMotorClimbingSetSpeed extends Command {
+  private final ClimbingSubsystem rightMotorClimbing = ClimbingSubsystem.getInstance();
+  double speed;
+  /** Creates a new RightMotorClimbingSetSpeed. */
+  public RightMotorClimbingSetSpeed(double speed) {
+    this.addRequirements(rightMotorClimbing);
+    this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.rightMotorClimbing.setSpeedClimbing(speed);
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 8c4dbce0b3f31b8b5f4ffb12712c926f115a6c0a Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 00:43:39 +0200
Subject: [PATCH 06/28] set speed trap command

added command to set speed trap command
---
 src/main/java/frc/robot/commands/setSpeedTrap.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/setSpeedTrap.java b/src/main/java/frc/robot/commands/setSpeedTrap.java
index 4ebc496..3e36ab7 100644
--- a/src/main/java/frc/robot/commands/setSpeedTrap.java
+++ b/src/main/java/frc/robot/commands/setSpeedTrap.java
@@ -7,9 +7,9 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.SubsystemTrap;
 
+
 public class setSpeedTrap extends Command {
   private final SubsystemTrap subsystemTrap = SubsystemTrap.getInstance();
-  private final 
   double speed;
   /** Creates a new setSpeedTrap. */
   public setSpeedTrap(double speed) {
@@ -22,7 +22,7 @@ public setSpeedTrap(double speed) {
   @Override
   public void initialize() {
     this.subsystemTrap.setSpeed(speed);
-    
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.

From 7d3843d3916b69209c2af4f9e1779f3664085e5a Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 00:44:07 +0200
Subject: [PATCH 07/28] climbing subsystem

added climbing subsystem
---
 .../robot/subsystems/ClimbingSubsystem.java   | 51 +++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/ClimbingSubsystem.java

diff --git a/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java b/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
new file mode 100644
index 0000000..9524508
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
@@ -0,0 +1,51 @@
+// 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.subsystems;
+
+import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+public class ClimbingSubsystem extends SubsystemBase {
+  /** Creates a new ClimbingSubsystem. */
+  private CANSparkMax m_climbingRight;
+  private CANSparkMax m_climbingLeft;
+  double speed;
+
+  private static ClimbingSubsystem instance;
+  
+  public static ClimbingSubsystem getInstance()
+  {
+   if (instance == null)
+    {
+      instance = new ClimbingSubsystem();
+    }
+    return instance;
+  }
+  
+
+  public ClimbingSubsystem() 
+  {
+
+  }
+  public void setSpeedClimbing(double speed){
+    m_climbingLeft.set(speed);
+    m_climbingRight.set(speed);
+  }
+
+  public void setRightSpeed(double speed){
+    m_climbingRight.set(speed);
+  }
+  public void setLeftSpeed(double speed)
+  {
+    m_climbingLeft.set(speed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From d16c6f7ad4ff8c816d7734b56078fb80313491bc Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 01:01:42 +0200
Subject: [PATCH 08/28] create new motor and private constructive action

1- changed to create new motor and private constructive action
---
 src/main/java/frc/robot/subsystems/SubsystemTrap.java | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/SubsystemTrap.java b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
index 31ca806..4633c75 100644
--- a/src/main/java/frc/robot/subsystems/SubsystemTrap.java
+++ b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
@@ -8,6 +8,7 @@
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix6.hardware.TalonFX;
+import static frc.robot.Constants.trapConstants.*;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -27,10 +28,11 @@ public static SubsystemTrap getInstance()
 
 
   /** Creates a new SubsystemTrap. */
-  public SubsystemTrap() {
+  private SubsystemTrap() {
 
   }
-  public void setSpeed(double speed){
+  private void setSpeed(double speed){
+    trapMotor = new WPI_TalonSRX(DEVICE_NUMBER);
     trapMotor.set(speed);
     
   }

From fec7b926ed3e48b4a6d151b032fad66db8be550b Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 01:01:54 +0200
Subject: [PATCH 09/28] added trap constants

---
 src/main/java/frc/robot/Constants.java | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 18c62d2..7eb8c80 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -223,4 +223,9 @@ public static class Vision {
 
     public static final Pose2d target = new Pose2d(1, 1, new Rotation2d(Units.degreesToRadians(0)));
   }
+  public static class trapConstants {
+    public static final int DEVICE_NUMBER = 0;
+  
+    
+  }
 }

From 281c7de8039caf24d6eaa8478a1988ee30df4244 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Thu, 18 Jan 2024 10:02:02 +0200
Subject: [PATCH 10/28] set speed

---
 src/main/java/frc/robot/subsystems/SubsystemTrap.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/SubsystemTrap.java b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
index 4633c75..4495a59 100644
--- a/src/main/java/frc/robot/subsystems/SubsystemTrap.java
+++ b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
@@ -31,7 +31,7 @@ public static SubsystemTrap getInstance()
   private SubsystemTrap() {
 
   }
-  private void setSpeed(double speed){
+  public void setSpeed(double speed){
     trapMotor = new WPI_TalonSRX(DEVICE_NUMBER);
     trapMotor.set(speed);
     

From dbe2aaa05c1848e188a6bb08805d1570222f46ac Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:00:00 +0200
Subject: [PATCH 11/28] motor = new motor

added motor = new motor to both motors left and right
---
 src/main/java/frc/robot/subsystems/ClimbingSubsystem.java | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java b/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
index 9524508..68708db 100644
--- a/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
@@ -5,8 +5,10 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import static frc.robot.Constants.trapConstants.*;
 
 
 public class ClimbingSubsystem extends SubsystemBase {
@@ -29,6 +31,10 @@ public static ClimbingSubsystem getInstance()
 
   public ClimbingSubsystem() 
   {
+    m_climbingLeft = new CANSparkMax(M_CLIMBINGLEFT_MOTOR_ID, MotorType.kBrushless);
+    m_climbingRight = new CANSparkMax(M_CLIMBINGRIGHT_MOTOR_ID, MotorType.kBrushless);
+
+
 
   }
   public void setSpeedClimbing(double speed){

From 2be41615d4570ce74f3e5eb6d7459de51b2e20d5 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:01:00 +0200
Subject: [PATCH 12/28] trapMotor = new WPI_TalonSRX(TRAP_MOTOR_ID);

added trapMotor = new WPI_TalonSRX(TRAP_MOTOR_ID);
---
 src/main/java/frc/robot/subsystems/SubsystemTrap.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/SubsystemTrap.java b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
index 4495a59..aa976f3 100644
--- a/src/main/java/frc/robot/subsystems/SubsystemTrap.java
+++ b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
@@ -29,11 +29,12 @@ public static SubsystemTrap getInstance()
 
   /** Creates a new SubsystemTrap. */
   private SubsystemTrap() {
+    trapMotor = new WPI_TalonSRX(TRAP_MOTOR_ID);
+
 
   }
   public void setSpeed(double speed){
-    trapMotor = new WPI_TalonSRX(DEVICE_NUMBER);
-    trapMotor.set(speed);
+   trapMotor.set(speed);
     
   }
 

From e191dcd3ae28db03af790f35fcf80ef6bf4253ad Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:01:24 +0200
Subject: [PATCH 13/28] motors ID to Constants

added motors ID to Constants
---
 src/main/java/frc/robot/Constants.java | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7eb8c80..af78946 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -224,7 +224,10 @@ public static class Vision {
     public static final Pose2d target = new Pose2d(1, 1, new Rotation2d(Units.degreesToRadians(0)));
   }
   public static class trapConstants {
-    public static final int DEVICE_NUMBER = 0;
+    public static final int TRAP_MOTOR_ID = 0;
+    public static final int M_CLIMBINGRIGHT_MOTOR_ID = 1;
+    public static final int M_CLIMBINGLEFT_MOTOR_ID = 2;
+
   
     
   }

From d50fcbe5f5cdf693ab282e4f5a79f751145fb1f4 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:02:49 +0200
Subject: [PATCH 14/28] changed motor name

changed to m_trapMotor
---
 src/main/java/frc/robot/subsystems/SubsystemTrap.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/SubsystemTrap.java b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
index aa976f3..fee404b 100644
--- a/src/main/java/frc/robot/subsystems/SubsystemTrap.java
+++ b/src/main/java/frc/robot/subsystems/SubsystemTrap.java
@@ -13,7 +13,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class SubsystemTrap extends SubsystemBase {
-  private WPI_TalonSRX trapMotor;
+  private WPI_TalonSRX m_trapMotor;
   double speed;
    private static SubsystemTrap instance;
   
@@ -29,12 +29,12 @@ public static SubsystemTrap getInstance()
 
   /** Creates a new SubsystemTrap. */
   private SubsystemTrap() {
-    trapMotor = new WPI_TalonSRX(TRAP_MOTOR_ID);
+    m_trapMotor = new WPI_TalonSRX(TRAP_MOTOR_ID);
 
 
   }
   public void setSpeed(double speed){
-   trapMotor.set(speed);
+   m_trapMotor.set(speed);
     
   }
 

From cdc62c0f7cd0e431fb4c0ad76cc55ad000a165e1 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:06:38 +0200
Subject: [PATCH 15/28] changed to instant command

changed to instant command
---
 .../commands/LeftMotorClimbingSetSpeed.java   | 39 -------------------
 1 file changed, 39 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java b/src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java
deleted file mode 100644
index a55d402..0000000
--- a/src/main/java/frc/robot/commands/LeftMotorClimbingSetSpeed.java
+++ /dev/null
@@ -1,39 +0,0 @@
-// 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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.ClimbingSubsystem;
-
-public class LeftMotorClimbingSetSpeed extends Command {
-   private final ClimbingSubsystem leftMotorClimbing = ClimbingSubsystem.getInstance();
-  double speed;
-  /** Creates a new LeftMotorClimbingSetSpeed. */
-  public LeftMotorClimbingSetSpeed(double speed) {
-    this.addRequirements(leftMotorClimbing);
-    this.speed = speed;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    this.leftMotorClimbing.setSpeedClimbing(speed);
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From 0136827a0e74ee6d11c3c8cc2a82c889f5dea81c Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:06:44 +0200
Subject: [PATCH 16/28] changed to instant command

changed to instant command
---
 .../commands/SetSpeedLeftMotorClimbing.java   | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java

diff --git a/src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java b/src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java
new file mode 100644
index 0000000..e596ff1
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java
@@ -0,0 +1,28 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class SetSpeedLeftMotorClimbing extends InstantCommand {
+  private final ClimbingSubsystem leftMotorClimbing = ClimbingSubsystem.getInstance();
+  double speed;
+  public SetSpeedLeftMotorClimbing(double speed) {
+      this.addRequirements(leftMotorClimbing);
+      this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.leftMotorClimbing.setSpeedClimbing(speed);
+
+  }
+}

From 2511bed1555a6527b477ca2ed5e5523947945d13 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:08:55 +0200
Subject: [PATCH 17/28] changed to instant command - right motor climbing

changed to instant command - right motor climbing
---
 .../commands/RightMotorClimbingSetSpeed.java  | 40 -------------------
 1 file changed, 40 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java b/src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java
deleted file mode 100644
index 9198cf0..0000000
--- a/src/main/java/frc/robot/commands/RightMotorClimbingSetSpeed.java
+++ /dev/null
@@ -1,40 +0,0 @@
-// 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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.ClimbingSubsystem;
-
-public class RightMotorClimbingSetSpeed extends Command {
-  private final ClimbingSubsystem rightMotorClimbing = ClimbingSubsystem.getInstance();
-  double speed;
-  /** Creates a new RightMotorClimbingSetSpeed. */
-  public RightMotorClimbingSetSpeed(double speed) {
-    this.addRequirements(rightMotorClimbing);
-    this.speed = speed;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    this.rightMotorClimbing.setSpeedClimbing(speed);
-
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From 1c28ea94c005ec7ac79b0b22aa57db4eada5192b Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:09:02 +0200
Subject: [PATCH 18/28] changed to instant command - right motor climbing

changed to instant command - right motor climbing
---
 .../commands/SetSpeedRightMotorClimbing.java  | 29 +++++++++++++++++++
 1 file changed, 29 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java

diff --git a/src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java b/src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java
new file mode 100644
index 0000000..fb443fd
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java
@@ -0,0 +1,29 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class SetSpeedRightMotorClimbing extends InstantCommand {
+  private final ClimbingSubsystem rightMotorClimbing = ClimbingSubsystem.getInstance();
+  double speed;
+  public SetSpeedRightMotorClimbing(double speed) {
+    this.addRequirements(rightMotorClimbing);
+    this.speed = speed;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.rightMotorClimbing.setSpeedClimbing(speed);
+
+  }
+}

From e64f168747eae13df14f5d464fc0446369f1f0ab Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:12:34 +0200
Subject: [PATCH 19/28] changed to instant command - set speed trap

changed to instant command - set speed trap
---
 .../java/frc/robot/commands/setSpeedTrap.java | 41 -------------------
 1 file changed, 41 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/setSpeedTrap.java

diff --git a/src/main/java/frc/robot/commands/setSpeedTrap.java b/src/main/java/frc/robot/commands/setSpeedTrap.java
deleted file mode 100644
index 3e36ab7..0000000
--- a/src/main/java/frc/robot/commands/setSpeedTrap.java
+++ /dev/null
@@ -1,41 +0,0 @@
-// 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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.SubsystemTrap;
-
-
-public class setSpeedTrap extends Command {
-  private final SubsystemTrap subsystemTrap = SubsystemTrap.getInstance();
-  double speed;
-  /** Creates a new setSpeedTrap. */
-  public setSpeedTrap(double speed) {
-    this.addRequirements(subsystemTrap);
-    this.speed = speed;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    this.subsystemTrap.setSpeed(speed);
-
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From c3ed8a904c692fdb9da5b086fe8c6701774575c1 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:12:40 +0200
Subject: [PATCH 20/28] changed to instant command - set speed trap

changed to instant command - set speed trap
---
 .../java/frc/robot/commands/TrapSetSpeed.java | 30 +++++++++++++++++++
 1 file changed, 30 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/TrapSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/TrapSetSpeed.java b/src/main/java/frc/robot/commands/TrapSetSpeed.java
new file mode 100644
index 0000000..e0b8d27
--- /dev/null
+++ b/src/main/java/frc/robot/commands/TrapSetSpeed.java
@@ -0,0 +1,30 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.SubsystemTrap;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class TrapSetSpeed extends InstantCommand {
+  private final SubsystemTrap subsystemTrap = SubsystemTrap.getInstance();
+  double speed;
+  public TrapSetSpeed(double speed) {
+    this.addRequirements(subsystemTrap);
+    this.speed = speed;
+    
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.subsystemTrap.setSpeed(speed);
+
+  }
+}

From b4af48f2db5ce8ef36e7cb80f6e4d9e2da757bf4 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:19:31 +0200
Subject: [PATCH 21/28] put in folder climbing folder

put in folder climbing folder
---
 .../ClimbingMotorsSetSpeed.java               | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java b/src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java
new file mode 100644
index 0000000..c26711f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java
@@ -0,0 +1,40 @@
+// 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.commands.ClimbingCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+public class ClimbingMotorsSetSpeed extends Command {
+  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
+  double speed;
+  /** Creates a new ClimbingMotorsSetSpeed. */
+  public ClimbingMotorsSetSpeed(double speed) {
+    this.addRequirements(climbingSubsystem);
+    this.speed = speed;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.climbingSubsystem.setSpeedClimbing(speed);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 636e6d25f4d9cbe1b0d2f8c2f9c95ddb2c85f6e4 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Fri, 19 Jan 2024 14:19:44 +0200
Subject: [PATCH 22/28] put in folder climbing folder

---
 .../SetSpeedLeftMotorClimbing.java            |  2 +-
 .../SetSpeedRightMotorClimbing.java           |  2 +-
 .../commands/ClimbingMotorsSetSpeed.java      | 40 -------------------
 3 files changed, 2 insertions(+), 42 deletions(-)
 rename src/main/java/frc/robot/commands/{ => ClimbingCommands}/SetSpeedLeftMotorClimbing.java (95%)
 rename src/main/java/frc/robot/commands/{ => ClimbingCommands}/SetSpeedRightMotorClimbing.java (95%)
 delete mode 100644 src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java
similarity index 95%
rename from src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java
rename to src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java
index e596ff1..ed76198 100644
--- a/src/main/java/frc/robot/commands/SetSpeedLeftMotorClimbing.java
+++ b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java
@@ -2,7 +2,7 @@
 // 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.commands;
+package frc.robot.commands.ClimbingCommands;
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.subsystems.ClimbingSubsystem;
diff --git a/src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java
similarity index 95%
rename from src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java
rename to src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java
index fb443fd..4f7bfc2 100644
--- a/src/main/java/frc/robot/commands/SetSpeedRightMotorClimbing.java
+++ b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java
@@ -2,7 +2,7 @@
 // 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.commands;
+package frc.robot.commands.ClimbingCommands;
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.subsystems.ClimbingSubsystem;
diff --git a/src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java b/src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java
deleted file mode 100644
index 38db2c6..0000000
--- a/src/main/java/frc/robot/commands/ClimbingMotorsSetSpeed.java
+++ /dev/null
@@ -1,40 +0,0 @@
-// 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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.ClimbingSubsystem;
-
-public class ClimbingMotorsSetSpeed extends Command {
-  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
-  double speed;
-  /** Creates a new ClimbingMotorsSetSpeed. */
-  public ClimbingMotorsSetSpeed(double speed) {
-    this.addRequirements(climbingSubsystem);
-    this.speed = speed;
-
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    this.climbingSubsystem.setSpeedClimbing(speed);
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From dafa1bd145a5c4c311ee9f903963091bf9e26c17 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Mon, 22 Jan 2024 16:34:20 +0200
Subject: [PATCH 23/28] made it instant command

made it instant command
---
 .../ClimbingMotorsSetSpeed.java               | 40 -------------------
 1 file changed, 40 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java

diff --git a/src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java b/src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java
deleted file mode 100644
index c26711f..0000000
--- a/src/main/java/frc/robot/commands/ClimbingCommands/ClimbingMotorsSetSpeed.java
+++ /dev/null
@@ -1,40 +0,0 @@
-// 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.commands.ClimbingCommands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.ClimbingSubsystem;
-
-public class ClimbingMotorsSetSpeed extends Command {
-  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
-  double speed;
-  /** Creates a new ClimbingMotorsSetSpeed. */
-  public ClimbingMotorsSetSpeed(double speed) {
-    this.addRequirements(climbingSubsystem);
-    this.speed = speed;
-
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    this.climbingSubsystem.setSpeedClimbing(speed);
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From 1ecc97fd6c5caa0af380ba40d376cd77757ae988 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Mon, 22 Jan 2024 16:34:33 +0200
Subject: [PATCH 24/28] changed instance

changed instance
---
 .../ClimbingCommands/SetSpeedLeftMotorClimbing.java         | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java
index ed76198..a39d092 100644
--- a/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java
+++ b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedLeftMotorClimbing.java
@@ -11,10 +11,10 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class SetSpeedLeftMotorClimbing extends InstantCommand {
-  private final ClimbingSubsystem leftMotorClimbing = ClimbingSubsystem.getInstance();
+  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
   double speed;
   public SetSpeedLeftMotorClimbing(double speed) {
-      this.addRequirements(leftMotorClimbing);
+      this.addRequirements(climbingSubsystem);
       this.speed = speed;
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -22,7 +22,7 @@ public SetSpeedLeftMotorClimbing(double speed) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    this.leftMotorClimbing.setSpeedClimbing(speed);
+    this.climbingSubsystem.setSpeedClimbing(speed);
 
   }
 }

From 95c74d2b9643478a2fa6933ddadae034de56c23d Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Mon, 22 Jan 2024 16:34:53 +0200
Subject: [PATCH 25/28] the instant command motors climbing

the instant command
---
 .../SetSpeedMotorsClimbing.java               | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedMotorsClimbing.java

diff --git a/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedMotorsClimbing.java b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedMotorsClimbing.java
new file mode 100644
index 0000000..4dc8bf0
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedMotorsClimbing.java
@@ -0,0 +1,28 @@
+// 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.commands.ClimbingCommands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.ClimbingSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class SetSpeedMotorsClimbing extends InstantCommand {
+  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
+  double speed;
+  public SetSpeedMotorsClimbing(double speed) {
+    this.addRequirements(climbingSubsystem);
+    this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.climbingSubsystem.setSpeedClimbing(speed);
+
+  }
+}

From ec55a9bc1996fddfcd35faee79a541dbe0a2e326 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Mon, 22 Jan 2024 16:35:07 +0200
Subject: [PATCH 26/28] changed instant2

changed instant2
---
 .../ClimbingCommands/SetSpeedRightMotorClimbing.java        | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java
index 4f7bfc2..cf961fb 100644
--- a/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java
+++ b/src/main/java/frc/robot/commands/ClimbingCommands/SetSpeedRightMotorClimbing.java
@@ -11,10 +11,10 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class SetSpeedRightMotorClimbing extends InstantCommand {
-  private final ClimbingSubsystem rightMotorClimbing = ClimbingSubsystem.getInstance();
+  private final ClimbingSubsystem climbingSubsystem = ClimbingSubsystem.getInstance();
   double speed;
   public SetSpeedRightMotorClimbing(double speed) {
-    this.addRequirements(rightMotorClimbing);
+    this.addRequirements(climbingSubsystem);
     this.speed = speed;
 
     // Use addRequirements() here to declare subsystem dependencies.
@@ -23,7 +23,7 @@ public SetSpeedRightMotorClimbing(double speed) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    this.rightMotorClimbing.setSpeedClimbing(speed);
+    this.climbingSubsystem.setSpeedClimbing(speed);
 
   }
 }

From 9f5cfca6d6f1256ada22b4d4f43de11459dc105f Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Mon, 22 Jan 2024 16:35:21 +0200
Subject: [PATCH 27/28] changed to private

changed to private
---
 src/main/java/frc/robot/subsystems/ClimbingSubsystem.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java b/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
index 68708db..acc1779 100644
--- a/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimbingSubsystem.java
@@ -8,7 +8,8 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import static frc.robot.Constants.trapConstants.*;
+import static frc.robot.Constants.climbingConstants.*;
+
 
 
 public class ClimbingSubsystem extends SubsystemBase {
@@ -29,7 +30,7 @@ public static ClimbingSubsystem getInstance()
   }
   
 
-  public ClimbingSubsystem() 
+  private ClimbingSubsystem() 
   {
     m_climbingLeft = new CANSparkMax(M_CLIMBINGLEFT_MOTOR_ID, MotorType.kBrushless);
     m_climbingRight = new CANSparkMax(M_CLIMBINGRIGHT_MOTOR_ID, MotorType.kBrushless);

From 652a559bb5eefe43a5e8d65c36e498ac7cefdcc3 Mon Sep 17 00:00:00 2001
From: shay <shaykalisher7@gmail.com>
Date: Mon, 22 Jan 2024 16:35:38 +0200
Subject: [PATCH 28/28] added climbing constants

added climbing constants
---
 src/main/java/frc/robot/Constants.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index af78946..c525926 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -225,10 +225,10 @@ public static class Vision {
   }
   public static class trapConstants {
     public static final int TRAP_MOTOR_ID = 0;
+    
+  }
+  public static class climbingConstants{
     public static final int M_CLIMBINGRIGHT_MOTOR_ID = 1;
     public static final int M_CLIMBINGLEFT_MOTOR_ID = 2;
-
-  
-    
   }
 }