Climber Subsystem

[Llama-Warrior]

Climber Subsystem

Hardware

• 2 NEOs (Spark Max)
  • Motor 2 follows Motor 1 inverted (TBC)
• CAN IDs: 51/52
• Idle Mode: Brake

Behaviors

• Extend climber
• Retract climber
• Extend climber to distance
• Home position?

Inputs

• 2 Spark Maxes
• Xbox Controller

Constraints

• Limited retraction distance
• Limited extension distance
• Limited Acceleration

Commands

• ExtendC()
• RetractC()
• ExtendToC()