Feature/climber

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

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+package frc.robot.constants;
+
+public class ClimberConstants {
+    public static final double CLIMBING_SPEED = .1;
+    public static final double DECLIMBING_SPEED = -.1;
+    public static final int CLIMBER_MOTOR_ID = 0;
+}

src/main/java/frc/robot/states/ClimberState.java

@@ -0,0 +1,21 @@
+package frc.robot.states;
+
+import frc.robot.constants.ClimberConstants;
+
+/* States the Climber can be in */
+public enum ClimberState {
+    IDLE(0),
+    DISABLED(0),
+    CLIMBING(ClimberConstants.CLIMBING_SPEED),
+    DECLIMB(ClimberConstants.DECLIMBING_SPEED);
+
+    private final double speed;
+
+    ClimberState(double speed) {
+        this.speed = speed;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+}

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

@@ -0,0 +1,89 @@
+package frc.robot.subsystems.Climber;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.states.ClimberState;
+import frc.robot.util.PARTs.Classes.PARTsCommandUtils;
+import frc.robot.util.PARTs.Classes.Abstracts.PARTsSubsystem;
+
+public abstract class Climber extends PARTsSubsystem {
+    private ClimberState climberState = ClimberState.IDLE;
+
+    public Climber() {
+        super("Climber");
+    }
+
+    // region Generic Subsystem Functions
+    @Override
+    public void outputTelemetry() {
+        partsNT.putString("Climber State", climberState.toString());
+    }
+
+    @Override
+    public void stop() {
+        climberState = climberState.DISABLED;
+    }
+
+    @Override
+    public void reset() {
+        climberState = climberState.IDLE;
+    }
+
+    @Override
+    public void log() {
+        partsLogger.logString("Climber State", climberState.toString());
+    }
+    // endregion
+
+    @Override
+    public void periodic() {
+        switch (climberState) {
+            case CLIMBING:
+            setSpeed(climberState.getSpeed());
+                break;
+            case DECLIMB:
+            setSpeed(climberState.getSpeed());
+                break;
+            case DISABLED:
+            setSpeed(climberState.getSpeed());
+                break;
+            case IDLE:
+            setSpeed(climberState.getSpeed());
+                break;
+            default: 
+            setSpeed(0);
+                break;
+        }
+    }
+
+    // region Custom Public Functions
+    /**
+     * Sets the speed of the Shooter.
+     * 
+     * @param speed The speed between <code>-1.0</code> and <code>1.0</code>.
+     */
+    protected abstract void setSpeed(double speed);
+
+    public ClimberState getState() {
+        return climberState;
+    }
+
+
+    public Command idle() {
+        return PARTsCommandUtils.setCommandName("Command Idle", this.runOnce(() -> {
+            climberState = ClimberState.IDLE;
+        }));
+    }
+
+    public Command climb() {
+        return PARTsCommandUtils.setCommandName("Command Climb", this.runOnce(() -> {
+            climberState = ClimberState.CLIMBING;
+        }));
+    }
+
+    public Command declimb() {
+        return PARTsCommandUtils.setCommandName("Command Declimb", this.runOnce(() -> {
+            climberState = ClimberState.DECLIMB;
+        }));
+    }
+    // endregion
+}

src/main/java/frc/robot/subsystems/Climber/ClimberPhys.java

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+package frc.robot.subsystems.Climber;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import frc.robot.constants.ClimberConstants;
+
+public class ClimberPhys extends Climber {
+    protected final SparkMax climberMotor;
+    protected final RelativeEncoder climberEncoder;
+
+    public ClimberPhys() {
+        super();
+
+        SparkMaxConfig climberConfig = new SparkMaxConfig();
+        climberConfig.idleMode(IdleMode.kBrake);
+
+        climberMotor = new SparkMax(ClimberConstants.CLIMBER_MOTOR_ID, MotorType.kBrushless);
+        climberEncoder = climberMotor.getEncoder();
+        climberMotor.configure(climberConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+    }
+
+    @Override
+    protected void setSpeed(double speed) {
+        climberMotor.set(speed);
+    }
+
+    @Override
+    public void periodic() {
+        super.periodic();
+    }
+
+    @Override
+    public void outputTelemetry() {
+        partsNT.putDouble("Output", climberMotor.getOutputCurrent());
+        partsNT.putDouble("Current", climberMotor.getAppliedOutput());
+    }
+
+    @Override
+    public void log() {
+        partsLogger.logDouble("Output", climberMotor.getOutputCurrent());
+        partsLogger.logDouble("Current", climberMotor.getAppliedOutput());
+    }
+}

src/main/java/frc/robot/subsystems/Climber/ClimberSim.java

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+package frc.robot.subsystems.Climber;
+
+public class ClimberSim extends Climber {
+    @Override
+    protected void setSpeed(double speed) {
+        partsNT.putDouble("Our Climber Speed", speed);
+    }
+}