Climber API for moving climber between setpoint positions

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

@@ -238,7 +238,7 @@ public static final class Auto {
     public static final PolarCoordinate kBallR1RunOver = new PolarCoordinate(
       Constants.Auto.kBallR1.getRadiusMeters() - Units.inchesToMeters(kRunOverDistanceInches),
       Constants.Auto.kBallR1.getTheta()
-    ); 
+    );
     //Shoot postition between ball R2 and ball D2
     public static final PolarCoordinate kFourBallShootPosition = new PolarCoordinate(
       Units.inchesToMeters(153),
@@ -355,6 +355,13 @@ public static final class Vision {
     public static final double VISION_TARGET_OFFSET_FROM_HUB_CENTER_METERS = Units.feetToMeters(2);
   }
 
+  public static enum ClimberSetpoint {
+    START,
+    RICKABOOT
+    // LOW_RUNG,
+    // MID_RUNG
+  }
+
   public static final int CLIMBER_LEFT_MOTOR_ID = 16;
   public static final int CLIMBER_RIGHT_MOTOR_ID = 3;
   public static final int CLIMBER_STRING_POT_ID = 3; // DIO

src/main/java/frc/robot/commands/climber/ClimberSetpointCommand.java

@@ -0,0 +1,23 @@
+package frc.robot.commands.climber;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Climber;
+
+public class ClimberSetpointCommand extends CommandBase {
+
+  private static final double MAX_SPEED = 0.10;
+
+  private final Climber climber;
+  private final XboxController controller;
+
+  private boolean shouldHoldPositionWhenStopped = true;
+
+  public ClimberSetpointCommand(XboxController controller, Climber climber) {
+    this.climber = climber;
+    this.controller = controller;
+
+    addRequirements(climber);
+  }
+
+}