General fixes

Author: dabeycorn

src/main/java/org/frc6423/frc2025/subsystems/IntakeIO.java

@@ -1,34 +1,38 @@
 
 package org.frc6423.frc2025.subsystems;
 
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+
 // Algae Intake Interface class
-public interface intakeIO {
+public interface IntakeIO {
 
+    @AutoLog
     public class intakeIOInputs {
-        public double currentAmps;
-        public double rotationsPerSecond;
-        public double statorCurrentAmps;
-        public double currentVolts;
-        public double supplyCurrentAmps;
+        public Rotation2d pivotPose = new Rotation2d();
+        public double pivotVelRadsPerSec = 0.0;
+        public double pivotAppliedVolts = 0.0;
+        public double pivotSupplyCurrentAmps = 0.0;
+        
+        public double rollerVelRadssPerSec = 0.0;
+        public double rollerAppliedVolts = 0.0;
+        public double rollerSupplyCurrentAmps = 0.0;
     }
 
+    /** Update logged inputs */
+    public void updateInputs(intakeIOInputs inputs);
+
     /** Sets pivot motor voltage */
     public void setPivotVolts(double volts);
 
     /** Sets roller motor voltage */
     public void setRollerVolts(double volts);
 
     /** Stops pivot motor */    
-    public default void stopPivot() {
-        setPivotVolts(0.0);
-    }
+    public void stopPivot();
 
     /** Stops roller motor */
-    public default void stopRoller() {
-        setRollerVolts(0.0);
-    }
-
-    /** Random method that I copied over */
-    public void registerSimulationCallback(Consumer<RollerIOInputsAutoLogged> callback);
+    public void stopRoller();
 
 }