Added Climber States plus a constant for climber speed in constants file.

build.gradle

@@ -1,4 +1,3 @@
-
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2026.1.1"
@@ -11,14 +10,6 @@ java {
     targetCompatibility = JavaVersion.VERSION_17
 }
 
-sourceSets {
-    main {
-        java {
-            exclude 'frc/robot/subsystems/w8_examples/**'
-        }
-    }
-}
-
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -133,7 +124,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', '**/bin/**', '**/frc/robot/subsystems/w8_examples/**'
+            exclude '**/build/**', '**/build-*/**', '**/bin/**'
         }
         toggleOffOn()
         googleJavaFormat()
@@ -144,7 +135,7 @@ spotless {
     groovyGradle {
         target fileTree('.') {
             include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**', '**/frc/robot/subsystems/w8_examples/**'
+            exclude '**/build/**', '**/build-*/**'
         }
         greclipse()
         indentWithSpaces(4)

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

@@ -13,8 +13,6 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.Inches;
-import static edu.wpi.first.units.Units.Volts;
 import static edu.wpi.first.units.Units.Inches;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Rotations;
@@ -27,13 +25,12 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.Velocity;
-import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotBase;
 import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
 import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics;
@@ -88,13 +85,7 @@ public class HopperConstants {
     public static final Distance MIN_DISTANCE = Inches.of(0.0);
     public static final Distance MAX_DISTANCE = Inches.of(15.0);
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
-
-    // CHANGE TO PROPER RPMS !!!!
-    public static final double SLOW_SPEED_RPM = 0.0;
-    public static final double FAST_SPEED_RPM = 0.0;
-    public static final double REVERSE_SPEED_RPM = 0.0;
-    public static final Voltage VOLTAGE = Volts.of(12.0);
-    public static final Distance DRUM_RADIUS = Inches.of(2.0);
+    private static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
     public static final AngularVelocity ANGULAR_VELOCITY = RotationsPerSecond.of(1);
     public static final AngularAcceleration ANGULAR_ACCELERATION = RotationsPerSecondPerSecond.of(1);
@@ -109,7 +100,7 @@ public class Ports {
   }
 
   public final class ShooterConstants {
-    // Constants for the Shooter
+  // Constants for the Shooter
     public static final Angle ANGLE_TOLERANCE = Rotations.of(0.01);
     public static final AngularVelocity ANGLE_VELOCITY_TOLERANCE = RotationsPerSecond.of(0.01);
     public static final AngularVelocity CRUISE_VELOCITY = RotationsPerSecond.of(204);
@@ -122,15 +113,10 @@ public final class ShooterConstants {
     public static final Angle MAX_ANGLE = Rotations.of(10.0);
     public static final Angle STARTING_ANGLE = Rotations.of(0.0);
     public static final Distance WHEEL_RADIUS = Meters.of(0.5);
-    public static final RotaryMechCharacteristics CONSTANTS =
-        new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
-    public static final double IDLE_SPEED_RPM = (1.0);
-    public static final double HUB_SPEED_RPM = (1.0);
-    public static final double TOWER_SPEED_RPM = (1.0);
-    public static final double DEFAULT_SPEED_RPM = (1.0);
     public static final double FLYWHEEL_VELOCITY_TOLERANCE = 1.0;
+    public static final RotaryMechCharacteristics CONSTANTS = new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
   }
-
+  
   public static final int CANDLE_ID = 50;
 
   public class IntakeConstants {
@@ -161,12 +147,7 @@ public class ClimberConstants {
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
     public static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
-    public static final LinearMechCharacteristics CHARACTERISTICS =
-        new LinearMechCharacteristics(
-            new Translation3d(0.0, 0.0, 0.0),
-            MIN_DISTANCE,
-            MAX_DISTANCE,
-            STARTING_DISTANCE,
-            CONVERTER);
+    public static final LinearMechCharacteristics CHARACTERISTICS = new LinearMechCharacteristics(new Translation3d(0.0, 0.0, 0.0), MIN_DISTANCE, MAX_DISTANCE, STARTING_DISTANCE, CONVERTER);  
+    public static final double CLIMBER_SPEED = 1.0;
   }
 }

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

@@ -10,7 +10,6 @@ public LEDs(LightsIO io) {
     _io = io;
   }
 
-    @Override
-    public void periodic() {}
-
+  @Override
+  public void periodic() {}
 }

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

@@ -1,7 +1,11 @@
 package frc.robot.subsystems.climber;
 
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.mechanisms.linear.LinearMechanism;
+import frc.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
   private LinearMechanism _io;
@@ -10,6 +14,18 @@ public Climber(LinearMechanism io) {
     io = _io;
   }
 
+  public enum State {
+    IDLE(Units.MetersPerSecond.of(0.0)),
+    ASCENDING(Units.MetersPerSecond.of(ClimberConstants.CLIMBER_SPEED)),
+    DESCENDING(Units.MetersPerSecond.of(-ClimberConstants.CLIMBER_SPEED));
+
+    private final LinearVelocity stateVelocity;
+
+    private State(LinearVelocity stateVelocity) {
+      this.stateVelocity = stateVelocity;
+    }
+  }
+
   @Override
   public void periodic() {}
 }

src/main/java/frc/robot/subsystems/hopper/Hopper.java

@@ -9,37 +9,20 @@
 import frc.robot.Constants;
 import frc.robot.Constants.HopperConstants;
 
-import static edu.wpi.first.units.Units.*;
-
-import edu.wpi.first.units.measure.*;
-import frc.robot.Constants.HopperConstants.*;
-
 public class Hopper extends SubsystemBase {
-    private FlywheelMechanism _io;
-
-    public enum State
-    {
-        OFF (RevolutionsPerSecond.of(0.0)),
-        FORWARD_SLOW (RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM/60)),
-        FORWARD_FAST (RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM/60)),
-        REVERSE (RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM/60));
-
-        private final AngularVelocity _stateVelocity;
 
-        private State(AngularVelocity stateVelocity) {
-            _stateVelocity = stateVelocity;
-        }
-    }
+private FlywheelMechanism _io;
 
-    public Hopper(FlywheelMechanism io) {
-        _io = io;
-    }
+public Hopper(FlywheelMechanism io) {
+_io = io;
+}
 
-  public void setGoal(double position) {
-    Distance positionInches = Inches.of(position);
-    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
-  }
+public void setGoal(double position) {
+  Distance positionInches = Inches.of(position);
+  _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
+}
 
   @Override
   public void periodic() {}
-}
+
+}

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

@@ -8,17 +8,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.io.motor.MotorIO.PIDSlot;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
-import frc.robot.Constants.ShooterConstants;
-
-import static edu.wpi.first.units.Units.Inches;
-import static edu.wpi.first.units.Units.Meters;
-import static edu.wpi.first.units.Units.Rotations;
-import static edu.wpi.first.units.Units.RotationsPerSecond;
-import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
-import static edu.wpi.first.units.Units.Second;
-import edu.wpi.first.units.Units;
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.Constants.FeederConstants;
 import frc.robot.Constants.ShooterConstants;
 
@@ -47,20 +36,6 @@ public void setFlywheelVelocity(double velocity) {
     _flywheel.runVelocity(angVelo, ShooterConstants.ACCELERATION, PIDSlot.SLOT_0);
   }
 
-  public enum State {
-    OFF(Units.RevolutionsPerSecond.of(0.0)), 
-    IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM/60)), 
-    SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM/60)), 
-    SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM/60)), 
-    SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60)), 
-    SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60));
-
-    private final AngularVelocity stateVelocity;
-    State(AngularVelocity stateVelocity) {
-      this.stateVelocity = stateVelocity;
-    }
-  }
-
   // Checks if the flywheel is at speed and returns a boolean
   public boolean flyAtVelocity() {
     return Math.abs(desiredVelo - _flywheel.getVelocity().in(RotationsPerSecond))