feat: create the io interface for arm subsystem's pivoting component

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

Author: dabeycorn

src/main/java/org/frc6423/robot/subsystems/arm/ArmPivotIO.java

@@ -0,0 +1,29 @@
+// 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.robot.subsystems.arm;
+
+/** Represents generalized hardware methods for {@link Arm} Subsystem's pivoting component */
+public interface ArmPivotIO extends AutoCloseable {
+  /**
+   * @return pivot motor angle in radians
+   */
+  public double angle();
+
+  /**
+   * Set pivot motor voltage setpoint
+   *
+   * @param volts desired voltage
+   */
+  public void setVoltage(double volts);
+
+  /**
+   * Set pivot motor angle goal for on board closed-loop control
+   *
+   * @param angleRads desired angle in radians
+   */
+  public void setAngle(double angleRads);
+}