Implement climber

[aidnem]

Subsystem Description

• Probably 1 Kraken X60
• Probably a linear elevator system
• Will need to be position closed loop
• Probably velocity or current homing, should also be homed with the momentary switch pre-match
• For simulation this system will start at maybe 14” tall and extend up 24”, when moving the elevator up assume it's 5 lb mass on a 1” radius, when moving the elevator down assume it's 135 lb mass on that same 1” radius

Work

• Add a subsystem that can control 1 kraken x60 using closed-loop control
• Use ElevatorSimAdapter for simulation
• Tune PIDs in sim as a proof of concept
• Give it the ability to have some arbitrary feedforward added while we're climbing to counteract the added weight of the robot

[aidnem]

@Samson560915 how's this coming along? Have you made any progress?

[aidnem]

@Samson560915 please make a pull request for this so we can review your code.

[aidnem]

@godmar @Samson560915 @PChild I have some thoughts on getting this merged

1. I don't think we should worry about the sim integrity of the climber. if we can make it work in real life and can just approximate it in sim, I would rather do that.

2. At this point, it's more important to just get the climber code merged in a working state so that it can be tied into the rest of the robot project than to have perfect (or even passable) climber sim

3. (this one is perhaps more suspect than the first two) Since the climber can't be perfectly physically modeled using just 1 elevatorsim (since it'll have different gravity depending on if we're latched or not), it might be better just to ignore physics altogether and use a motion profile as our climber sim. We can write a dummy IO that implements the closed-loop methods that we use to calculate its position based on a motion profile. This will roughly match the motion of the climber in real life without having to deal with whatever is going horribly wrong in our physics simulation of the elevator.