Basic outline

Author: BB7209

src/main/java/frc/robot/subsystems/funnel/FunnelIo.java

@@ -0,0 +1,16 @@
+package frc.robot.subsystems.funnel;
+
+import org.littletonrobotics.junction.AutoLog;
+import org.strykeforce.telemetry.TelemetryService;
+
+public interface FunnelIo {
+
+    @AutoLog
+    public static class FunnelIoInputs{
+
+    }
+
+    public default void updateInputs(FunnelIoInputs inputs) {}
+
+    public default void registerWith(TelemetryService telemetryService) {}
+}

src/main/java/frc/robot/subsystems/funnel/FunnelSubsystem.java

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+package frc.robot.subsystems.funnel;
+
+import java.util.Set;
+
+import org.strykeforce.telemetry.measurable.MeasurableSubsystem;
+import org.strykeforce.telemetry.measurable.Measure;
+
+import frc.robot.standards.OpenLoopSubsystem;
+
+public class FunnelSubsystem extends MeasurableSubsystem implements OpenLoopSubsystem{
+
+    // Private Variables
+    private final FunnelIo io;
+
+    public FunnelState curState = FunnelState.Idle;
+
+    // Constructor
+    public FunnelSubsystem(FunnelIo io){
+        this.io = io;
+    }
+
+    public FunnelState getState(){
+        return curState;
+    }
+
+    @Override
+    public void periodic(){
+        switch (curState){
+            case Idle:
+                break;
+            case PickingUp:
+                break;
+            case Held:
+                break;
+        }
+    }
+
+    @Override
+    public Set<Measure> getMeasures() {
+            return null;
+    }
+
+    public enum FunnelState{
+        Idle,
+        PickingUp,
+        Held
+    }
+
+    @Override
+    public void setPercent(double pct) {
+
+    }
+    
+}