alll spark maxes and everything

Author: GreenTomato5

src/main/java/frc/robot/GlobalConstants.java

@@ -28,6 +28,6 @@ public static final class Controllers {
 
 	public static class FaultManagerConstants {
 
-		public static final ArrayList<Integer> CAN_DEVICE_ORDER = new ArrayList<Integer>(Arrays.asList( 2, 10, 35, 1, 7, 33, 11, 8));
+		public static final ArrayList<Integer> CAN_DEVICE_ORDER = new ArrayList<Integer>(Arrays.asList( 5, 15, 16, 2, 10, 35, 1, 7, 33, 11, 8));
 	}
 }

src/main/java/frc/robot/Manager/Manager.java

@@ -20,6 +20,7 @@ public class Manager extends Subsystem<ManagerStates> {
 	private Drive drive;
 	private static Manager instance; 
 	private FaultManager faultManager = FaultManager.getInstance();
+	private Climber climber;
 
 	public static Manager getInstance() {
 		if (instance == null) {
@@ -32,9 +33,12 @@ public static Manager getInstance() {
 	public Manager() {
 		super("Manager", ManagerStates.IDLE);
 
-		// climber = new Climber();
 		algaeCoraler = AlgaeCoraler.getInstance();
 		drive = Drive.getInstance(); 
+		climber = new Climber();
+		faultManager.addDevice(algaeCoraler.getWheelSpark(), "Coral and Algae Wheel Spark", "Main CAN");
+		faultManager.addDevice(algaeCoraler.getPivotSpark(), "Pivot Spark", "Main CAN");
+		faultManager.addDevice(climber.getClimberSpark(), "Climer Spark", "Main CAN");
 
 		// Scoring/intaking Coral
 		// addTrigger(IDLE, CORAL_OUT, () -> robotHasCoral() && DRIVER_CONTROLLER.getYButtonPressed());
@@ -73,12 +77,12 @@ public void runState() {
 		Logger.recordOutput(SUBSYSTEM_NAME + "/State Time", getStateTime());
 		Logger.recordOutput(SUBSYSTEM_NAME + "/State String", getState().getStateString());
 
-		// climber.setState(getState().getClimber());
+		climber.setState(getState().getClimber());
 		algaeCoraler.setState(getState().getAlgaeCoraler());
 		drive.periodic();
 		faultManager.periodic();
 
-		// climber.periodic();
+		climber.periodic();
 		algaeCoraler.periodic();
 
 		if (Controllers.DRIVER_CONTROLLER.getXButtonPressed() || Controllers.OPERATOR_CONTROLLER.getXButtonPressed()) {

src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoraler.java

@@ -6,6 +6,8 @@
 import org.littletonrobotics.junction.Logger;
 import org.team7525.subsystem.Subsystem;
 
+import com.revrobotics.spark.SparkMax;
+
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class AlgaeCoraler extends Subsystem<AlgaeCoralerStates> {
@@ -69,4 +71,12 @@ public boolean hasCoral() {
 	public double getStateTime() {
 		return super.getStateTime();
 	}
+
+	public SparkMax getWheelSpark() {
+		return io.getWheelsSpark();
+	}
+
+	public SparkMax getPivotSpark() {
+		return io.getPivotSpark();
+	}
 }

src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIO.java

@@ -3,6 +3,8 @@
 import edu.wpi.first.units.measure.Angle;
 import org.littletonrobotics.junction.AutoLog;
 
+import com.revrobotics.spark.SparkMax;
+
 public interface AlgaeCoralerIO  {
 	@AutoLog
 	public static class AlgaeCoralerIOInputs {
@@ -29,5 +31,9 @@ public static class AlgaeCoralerIOInputs {
 	public boolean hasCoral(); 
 
 	public void setThere(boolean there);
+
+	public SparkMax getWheelsSpark();
+
+	public SparkMax getPivotSpark();
 
 }

src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIOReal.java

@@ -109,4 +109,14 @@ public boolean hasCoral() {
 	public void setThere(boolean there) {
 		this.there = there;
 	}
+
+	@Override
+	public SparkMax getWheelsSpark() {
+		return wheelsMotor;
+	}
+
+	@Override
+	public SparkMax getPivotSpark() {
+		return pivotMotor;
+	}
 }

src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIOSim.java

@@ -128,4 +128,14 @@ public boolean hasCoral() {
 	public void setThere(boolean there) {
 		System.out.println("...");
 	}
+
+	@Override
+	public SparkMax getPivotSpark() {
+		return dummyPivotSpark;
+	}
+
+	@Override
+	public SparkMax getWheelsSpark() {
+		return dummyWheelsSpark;
+	}
 }

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

@@ -6,6 +6,8 @@
 import org.littletonrobotics.junction.Logger;
 import org.team7525.subsystem.Subsystem;
 
+import com.revrobotics.spark.SparkMax;
+
 public class Climber extends Subsystem<ClimberStates> {
 
 	private ClimberIO io;
@@ -30,4 +32,7 @@ public void runState() {
 		Logger.processInputs(SUBSYSTEM_NAME, inputs);
 		Logger.recordOutput(SUBSYSTEM_NAME + "/State", getState().getStateString());
 	}
+	public SparkMax getClimberSpark() {
+		return io.getClimberSpark();
+	}
 }

src/main/java/frc/robot/Subsystems/Climber/ClimberIO.java

@@ -1,6 +1,8 @@
 package frc.robot.Subsystems.Climber;
 import org.littletonrobotics.junction.AutoLog;
 
+import com.revrobotics.spark.SparkMax;
+
 public interface ClimberIO {
 	@AutoLog
 	public static class ClimberIOInputs {
@@ -10,5 +12,6 @@ public static class ClimberIOInputs {
 	public void updateInputs(ClimberIOInputs input);
 
 	public void setSpeed(double speed);
+	public SparkMax getClimberSpark();
 
 }

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

@@ -22,4 +22,9 @@ public void updateInputs(ClimberIOInputs inputs) {
 	public void setSpeed(double speed) {
 		motor.set(speed);
 	}
+
+	@Override
+	public SparkMax getClimberSpark() {
+		return motor;
+	}
 }

src/main/java/frc/robot/Subsystems/Climber/ClimberIOSim.java

@@ -44,4 +44,11 @@ public void updateInputs(ClimberIOInputs inputs) {
 	public void setSpeed(double speed) {
 		climberSim.setInput(speed);
 	}
+
+	@Override
+	public SparkMax getClimberSpark() {
+		return dummySpark;
+	}
+
+
 }