feat: create generic roller subsystem for lib

Signed-off-by: Dasun Abeykoon <[email protected]>

Author: dabeycorn

src/main/java/org/frc6423/lib/subsystems/Roller.java

@@ -0,0 +1,89 @@
+// Copyright (c) 2025 FRC 6423 - Ward Melville Iron Patriots
+// https://github.com/wmironpatriots
+// 
+// Open Source Software; you can modify and/or share it under the terms of
+// MIT license file in the root directory of this project
+
+package org.frc6423.lib.subsystems;
+
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.math.filter.LinearFilter;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.function.DoubleSupplier;
+
+/** Generic Roller Subsystem */
+public class Roller extends SubsystemBase {
+  @Logged(name = "Roller Hardware Loggables")
+  private final RollerIO hardware;
+
+  // TODO check value
+  private LinearFilter currentFilter = LinearFilter.movingAverage(3);
+
+  @Logged(name = "Filtered Roller Motor Current (Amps)")
+  private double filteredCurrent = 0.0;
+
+  public Roller(String name, RollerIO hardware) {
+    this.setName(name);
+    this.hardware = hardware;
+  }
+
+  @Override
+  public void periodic() {
+    hardware.periodic();
+
+    filteredCurrent = currentFilter.calculate(hardware.getStatorCurrentAmps());
+  }
+
+  /**
+   * @param minStallAmps minimum roller motor stator current considered stalling in amps
+   * @return true if roller motor is stalling
+   */
+  private boolean isStalling(double minStallAmps) {
+    return Math.abs(filteredCurrent) > 30.0;
+  }
+
+  private void setCurrentFilterTaps(int taps) {
+    currentFilter = LinearFilter.movingAverage(taps);
+  }
+
+  /**
+   * Run roller at specified volts
+   *
+   * @param volts desired volts
+   * @return {@link Command}
+   */
+  private Command runVolts(DoubleSupplier volts) {
+    return this.run(() -> hardware.setVolts(volts.getAsDouble()));
+  }
+
+  /**
+   * Run roller at specified volts
+   *
+   * @param volts desired volts
+   * @return {@link Command}
+   */
+  private Command runVolts(double volts) {
+    return runVolts(() -> volts);
+  }
+
+  /**
+   * Run roller at specified speed
+   *
+   * @param speedRpm desired speed in revs per minute
+   * @return {@link Command}
+   */
+  private Command runSpeed(DoubleSupplier speedRpm) {
+    return this.run(() -> hardware.setSpeed(speedRpm.getAsDouble()));
+  }
+
+  /**
+   * Run roller at specified speed
+   *
+   * @param speedRpm desired speed in revs per minute
+   * @return {@link Command}
+   */
+  private Command runSpeed(double speedRpm) {
+    return runSpeed(() -> speedRpm);
+  }
+}

src/main/java/org/frc6423/lib/subsystems/RollerIO.java

@@ -0,0 +1,44 @@
+// Copyright (c) 2025 FRC 6423 - Ward Melville Iron Patriots
+// https://github.com/wmironpatriots
+// 
+// Open Source Software; you can modify and/or share it under the terms of
+// MIT license file in the root directory of this project
+
+package org.frc6423.lib.subsystems;
+
+import edu.wpi.first.epilogue.Logged;
+
+/** Generalized hardware methods for {@link Arm} subsystem */
+public interface RollerIO extends AutoCloseable {
+  /** Run periodic hardware logic */
+  public void periodic();
+
+  @Logged(name = "Roller Applied Voltage")
+  public double getAppliedVolts();
+
+  /**
+   * @return speed of roller motor in revs per minute
+   */
+  @Logged(name = "Roller Motor Speed (Revs Per Minute)")
+  public double getSpeedRpm();
+
+  /**
+   * @return stator current of roller motor in amps
+   */
+  @Logged(name = "Roller Motor Stator Current (Amps)")
+  public double getStatorCurrentAmps();
+
+  /**
+   * Set roller motor voltage setpoint
+   *
+   * @param volts desired voltage setpoint
+   */
+  public void setVolts(double volts);
+
+  /**
+   * Set roller motor speed setpoint
+   *
+   * @param speedRpm desired speed setpoint in revs per minute
+   */
+  public void setSpeed(double speedRpm);
+}

src/main/java/org/frc6423/lib/subsystems/RollerIONone.java

@@ -0,0 +1,37 @@
+// Copyright (c) 2025 FRC 6423 - Ward Melville Iron Patriots
+// https://github.com/wmironpatriots
+// 
+// Open Source Software; you can modify and/or share it under the terms of
+// MIT license file in the root directory of this project
+
+package org.frc6423.lib.subsystems;
+
+/** Null {@link RollerIO} */
+public class RollerIONone implements RollerIO {
+  @Override
+  public void periodic() {}
+
+  @Override
+  public double getAppliedVolts() {
+    return 0.0;
+  }
+
+  @Override
+  public double getSpeedRpm() {
+    return 0.0;
+  }
+
+  @Override
+  public double getStatorCurrentAmps() {
+    return 0.0;
+  }
+
+  @Override
+  public void setVolts(double volts) {}
+
+  @Override
+  public void setSpeed(double speedRpm) {}
+
+  @Override
+  public void close() throws Exception {}
+}