R2 137 create an elevator current limit DONE!!!!!!!!!!

src/main/java/frc/robot/Constants.java

@@ -716,4 +716,4 @@ public static TalonFXConfiguration getFXConfig() {
     public static final double CLIMB_SPEED = 1.0;
     public static final double HARD_STOP_CURRENT_LIMIT = 50.0;
   }
-}
+}

src/main/java/frc/robot/Robot.java

@@ -192,12 +192,11 @@ public void simulationInit() {
 
     // Register a robot for collision with fuel
     fuelSim.registerRobot(
-        0.8, // from left to right in meters
-        0.8, // from front to back in meters
-        Inches.of(7).in(Meters), // from floor to top of bumpers in meters
-        () -> robotContainer.drive.getPose(), // Supplier<Pose2d> of robot pose
-        robotContainer.drive
-            ::getChassisSpeeds); // Supplier<ChassisSpeeds> of field-centric chassis speed
+            0.8, // from left to right in meters
+            0.8, // from front to back in meters
+            Inches.of(7).in(Meters), // from floor to top of bumpers in meters
+            () -> robotContainer.drive.getPose(), // Supplier<Pose2d> of robot pose
+            () -> robotContainer.drive.getChassis); // Supplier<ChassisSpeeds> of field-centric chassis speed
 
     fuelSim.registerIntake(
         0.4,
@@ -224,4 +223,4 @@ public void simulationPeriodic() {
 
     SmartDashboard.putNumber("Sim Balls", (double) robotContainer.intake.simBalls);
   }
-}
+}

src/main/java/frc/robot/RobotContainer.java

@@ -338,4 +338,4 @@ private void configureButtonBindings() {
   public Command getAutonomousCommand() {
     return autoChooser.get();
   }
-}
+}

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

@@ -2,7 +2,6 @@
 
 import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Meters;
-import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
@@ -16,6 +15,7 @@
 import frc.robot.Constants.ClimberConstants;
 import org.littletonrobotics.junction.Logger;
 
+
 public class Climber extends SubsystemBase {
   private LinearMechanism _io;
   Distance goalDistance;
@@ -44,19 +44,7 @@ public boolean isAboveCurrentLimit() {
   }
 
   @Override
-  public void periodic() {
-    _io.periodic();
-
-    double z = Math.abs(Math.sin(Timer.getFPGATimestamp()) * 0.33); // Placeholder for position
-
-    // The z of the Translation3D should be
-    // 'ClimberConstants.CONVERTER.toDistance(_io.getPosition()).in(Meters)', change after fixing
-    // motor configs.
-    Logger.recordOutput(
-        "3DField/4_Climber", new Pose3d(new Translation3d(0, 0, z), new Rotation3d(0, 0, 0)));
-
-    _io.runVoltage(Volts.of(Math.sin(Timer.getFPGATimestamp()) * 0.25));
-  }
+  public void periodic() {}
 
   public Command runClimber() {
     return this.runOnce(

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

@@ -119,4 +119,4 @@ public void periodic() {
 
     // _pivotIO.runVoltage(Volts.of(Math.sin(Timer.getFPGATimestamp())*0.25)); //--- Tests the pivot
   }
-}
+}

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

@@ -182,4 +182,4 @@ public void periodic() {
 
     _hood.runVoltage(Volts.of(Math.sin(Timer.getFPGATimestamp()) * 0.25));
   }
-}
+}

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

@@ -24,6 +24,14 @@ private State(LinearVelocity velocity) {
       this.velocity = velocity;
     }
   }
+  public boolean isAboveCurrentLimit() {
+      if (_io.getSupplyCurrent().in(Units.Amps) > ClimberConstants.HARD_STOP_CURRENT_LIMIT) {
+        return true;
+      }
+      else {
+        return false;
+      }
+  }
 
   @Override
   public void periodic() {}

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -365,4 +365,4 @@ public static Translation2d[] getModuleTranslations() {
       new Translation2d(TunerConstants.BackRight.LocationX, TunerConstants.BackRight.LocationY)
     };
   }
-}
+}