arm subsystem

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

@@ -36,12 +36,12 @@ public final class Constants {
 
   public static final class HardwarePorts {
     // motors (predicted) IDs not fixed
-    // shooter ports should be correct, climb IDs still predicted
-    public static final int shooterLeaderM = 21;
-    public static final int shooterFollowerM = 22;
-    public static final int climbLeaderMotor = 3;
-    public static final int climbFollowerMotor = 4;
-
+    // TODO actually set correct port IDs at some point
+    public static final int shooterLeaderM = 21; // should be correct
+    public static final int shooterFollowerM = 22; // should be correct
+    public static final int climbLeaderMotor = 3; // predicted
+    public static final int climbFollowerMotor = 4; //predicted
+    public static final int armMotor = -1; // !! invalid !! needs to be set
   }
 
   public static final double FIELD_WIDTH_METERS = 8.21055;

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

@@ -0,0 +1,37 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class ArmSubsystem extends SubsystemBase {
+    private static ArmSubsystem instance;
+
+    public static ArmSubsystem getInstance() {
+        if (instance == null) {
+            instance = new ArmSubsystem();
+        }
+        return instance;
+    }
+
+    private TalonFX motor;
+
+    private ArmSubsystem() {
+        motor = new TalonFX(Constants.HardwarePorts.armMotor);
+    }
+
+    public enum ArmState {
+        FLOOR(0.0),
+        AMP(80.0), // TODO set to some real value, this is totally random
+        SPEAKER(120.0); // TODO set to some real value, this is totally random
+        final double position;
+
+        ArmState(double position) {
+            this.position = position;
+        }
+    }
+
+    public void setState(ArmState state) {
+        motor.setPosition(state.position);
+    }
+}