RewriteClimber

[Yuriana101]

No description provided.

[Copilot]

Pull Request Overview

This PR refactors the Climber subsystem to use state‐driven speed control while introducing a singleton for the Climber class and finalizing some constant refactoring.

• Exposes ClimberStates.getSpeed() as public for external access.
• Adds a speedSetpoint in ClimberIOReal and ClimberIO, along with a state field.
• Introduces a singleton pattern in Climber.java and replaces a TODO comment in the constants with a new static class.

Reviewed Changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
ClimberStates.java	Changed getSpeed() from protected to public to support state‐driven usage.
ClimberIOReal.java	Added speedSetpoint field and updated inputs with minimal style adjustments.
ClimberIO.java	Added speedSetpoint and state fields in ClimberIOInputs.
ClimberConstants.java	Eliminated a TODO by introducing a new static class Real.
Climber.java	Introduced a singleton implementation and updated state handling in runState.

Comments suppressed due to low confidence (1)

src/main/java/frc/robot/Subsystems/Climber/ClimberStates.java:25

• Changing getSpeed's access modifier from protected to public increases its visibility. Please verify that exposing this method aligns with your intended API design without compromising encapsulation.

public double getSpeed() {

[Tortuga-AM]

You can fix these or lmk and I'll do it

[Copilot]

Pull Request Overview

This PR refactors the Climber subsystem to drive motor output purely from its state machine, adds setpoint monitoring, and implements a singleton pattern for Climber.

• Expose getSpeed() in ClimberStates for external callers
• Track and log speedSetpoint in ClimberIO and ClimberIOReal
• Introduce a singleton (getInstance()) in Climber and simplify runState() to use state speeds
• Clean up stray TODO comment in ClimberConstants

Reviewed Changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
src/main/java/frc/robot/Subsystems/Climber/ClimberStates.java	Changed getSpeed() from protected to public
src/main/java/frc/robot/Subsystems/Climber/ClimberIOReal.java	Added speedSetpoint field, set it in setSpeed(), and propagate in updateInputs()
src/main/java/frc/robot/Subsystems/Climber/ClimberIO.java	Added speedSetpoint to ClimberIOInputs
src/main/java/frc/robot/Subsystems/Climber/ClimberConstants.java	Removed redundant // TODO comment
src/main/java/frc/robot/Subsystems/Climber/Climber.java	Added singleton instance and getInstance(), replaced manual trigger logic with state-driven speed

Comments suppressed due to low confidence (2)

src/main/java/frc/robot/Subsystems/Climber/Climber.java:11

• [nitpick] The singleton instance field is declared public; consider making it private static and only exposing it via getInstance() to encapsulate the pattern.

public static Climber instance;

src/main/java/frc/robot/Subsystems/Climber/ClimberIOReal.java:27

• Add or update unit tests to verify that speedSetpoint is correctly stored in ClimberIOReal and propagated through updateInputs.

this.speedSetpoint = speed;

[Tortuga-AM]

your choice merge or fix.