Update arm-subsystem.java.hbs

Author: thenetworkgrinch

public/templates/arm-subsystem.java.hbs

@@ -10,6 +10,10 @@ import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.RoboRioSim;
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
 {{#if isSparkController}}
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -170,6 +174,9 @@ public class {{subsystemName}} extends SubsystemBase {
    // Update simulation by 20ms
    armSim.update(0.020);
    RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(armSim.getCurrentDrawAmps()));
+
+   double motorPosition = Radians.of(armSim.getAngleRads() * gearRatio).in(Rotations);
+   double motorVelocity = RadiansPerSecond.of(armSim.getVelocityRadPerSec() * gearRatio).in(RotationsPerSecond);
    {{{motorControllerSimulationPeriodic}}}
  }