Climb Interlock + Precheck

Disclaimer: WIP and untested; wire to your sensors and thresholds. Custom code built on WPILib APIs.

Purpose: Prevent climb start unless END GAME, intake stowed, battery OK, sensors good; log faults.

Code (Java/WPILib)

public class ClimbInterlock {
  private final BooleanSupplier endgame;
  private final BooleanSupplier intakeStowed;
  private final DoubleSupplier battery;
  private final double minBattery;
  private final Supplier<Boolean> sensorOk;

  public ClimbInterlock(BooleanSupplier endgame, BooleanSupplier intakeStowed,
                        DoubleSupplier battery, double minBattery,
                        Supplier<Boolean> sensorOk) {
    this.endgame = endgame;
    this.intakeStowed = intakeStowed;
    this.battery = battery;
    this.minBattery = minBattery;
    this.sensorOk = sensorOk;
  }

  public boolean ready() {
    return endgame.getAsBoolean()
        && intakeStowed.getAsBoolean()
        && battery.getAsDouble() >= minBattery
        && sensorOk.get();
  }

  public String fault() {
    if (!endgame.getAsBoolean()) return "Not END GAME";
    if (!intakeStowed.getAsBoolean()) return "Intake not stowed";
    if (battery.getAsDouble() < minBattery) return "Battery low";
    if (!sensorOk.get()) return "Sensor fault";
    return "";
  }
}

Usage: check ready() before climb command; show fault() on dashboard/LED if blocked.