save for shaunak

Author: ryx731

src/main/kotlin/com/team4099/robot2025/subsystems/hopper/HopperIO.kt

@@ -0,0 +1,80 @@
+package com.team4099.robot2026.subsystems.hopper
+
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+import org.team4099.lib.units.base.Current
+import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.celsius
+import org.team4099.lib.units.base.inAmperes
+import org.team4099.lib.units.base.inCelsius
+import org.team4099.lib.units.derived.degrees
+import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.inDegreesPerSecond
+import org.team4099.lib.units.inDegreesPerSecondPerSecond
+import org.team4099.lib.units.perSecond
+
+interface HopperIO{
+    class HopperIOInputs : LoggableInputs {
+        //Hopper Inputs
+        var hopperVelocity = 0.0.degrees.perSecond
+        var hopperAcceleration = 0.0.degrees.perSecond.perSecond
+        var hopperAppliedVoltage = 0.0.volts
+        var hopperStatorCurrent = 0.0.amps
+        var hopperSupplyCurrent = 0.0.amps
+        var hopperTemp = 0.0.celsius
+        var isSimulating = falase
+        override fun toLog(table: LogTable) {
+            table.put("hopperVelocityPerSecond", hopperVelocity.inDegreesPerSecond)
+        }
+        override fun getLog(table: LogTable){
+            table.get("hopperVelocityPerSecond", hopperVelocity.inDegreesPerSecond){
+                hopperVelocity = it.hopperVelocity.inDegreesPerSecond
+            }
+        }
+        override fun toLog(table: LogTable){
+            table.put("hopperAcceleration", hopperAcceleration.inDegrees)
+            table.put("hopperAccelerationPerSecond", hopperAcceleration.inDegreesPerSecond.inDegreesPerSecond)
+        }
+
+        override fun getLog(table: LogTable){
+            table.get("hopperAcceleration", hopperAcceleration.inDegreesPerSecond.inDegreesPerSecond).let{
+                hopperAcceleration = it.inDegreesPerSecond.inDegreesPerSecond
+            }
+        }
+        override fun toLog(table: LogTable){
+            table.put("hopperAppliedVoltage", hopperAppliedVoltage.inVolts)
+            }
+        override fun getLog(table: LogTable){
+            table.get("hopperAppliedVoltage", hopperAppliedVoltage.inVolts){
+                hopperAppliedVoltage = it.inVolts
+            }
+        }
+        override  fun toLog(table: LogTable){
+            table.put("hopperStatorCurrent",){
+
+            }
+        }
+        fun updateInputs(inputs: hopperInputs) {
+
+        }
+        fun setVoltage(voltage: hopperSetVoltage) {
+
+        }
+
+        fun setPosition(position: hopperSetPosition) {
+
+        }
+        fun setBrakeMode(brake: Boolean) {
+
+        }
+        fun configFF(
+            kG: ElectricalPotential,
+            kS: StaticFeedforward<Volt>,
+            kV: VelocityFeedforward<MeasurementUnit, Volt>,
+            kA: AccelerationFeedforward<MeasurementUnit, Volt>
+        ) {
+
+        }
+    }
+}