From: iefomit <timofei.stem@gmail.com>
Date: Tue, 10 Mar 2026 17:32:13 +0000 (-0700)
Subject: replaced ClimbDriveCommand
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=735b07e5e347e2294cec81f1fca4ce5f32a09fa8;p=FRC2026.git

replaced ClimbDriveCommand
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e736859..85ed2ed 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -102,6 +102,7 @@ public class RobotContainer {
       case PrimeJr: // AKA Valence
         spindexer = new Spindexer();
         intake = new Intake();
+        linearClimb = new LinearClimb();
 
       case WaffleHouse: // AKA Betabot
         turret = new Turret();
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 4264262..abc8eb7 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
 import frc.robot.Robot;
-import frc.robot.commands.gpm.ClimbDriveCommand;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.ReverseMotors;
 import frc.robot.commands.gpm.RunSpindexer;
@@ -170,8 +169,15 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                 climb.retract();
             }));
 
-            // Drive to climb position
-            controller.get(PS5Button.TRIANGLE).onTrue(new ClimbDriveCommand(climb, getDrivetrain()));
+            // Go to up position
+            controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> {
+                climb.goUp();
+            }));
+
+            // Go to climb position
+            controller.get(PS5Button.TOUCHPAD).onTrue(new InstantCommand(() -> {
+                climb.climbPosition();
+            }));
         }
 
         // Hood