feat: create arm public interface for managing componenets

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

Author: dabeycorn

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

@@ -0,0 +1,73 @@
+package org.frc6423.robot.subsystems.arm;
+
+import java.util.function.DoubleSupplier;
+
+import org.frc6423.lib.drivers.LoggedSubsystem;
+import org.frc6423.lib.subsystems.RollerIO;
+import org.frc6423.monologue.Annotations.FlattenedLogged;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** Public interface of the {@link Arm} subsystem */
+public class Arm extends LoggedSubsystem {
+    @FlattenedLogged private final ArmPivot pivot;
+    @FlattenedLogged private final ArmRoller roller;
+
+    public Arm(ArmPivotIO pivotIO, RollerIO rollerIO) {
+        this.pivot = new ArmPivot(pivotIO);
+        this.roller = new ArmRoller(rollerIO);
+    }
+
+    /**
+     * @return true when arm is at setpoint angle
+     */
+    public boolean atPose() {
+        return pivot.atPose();
+    }
+
+    /**
+     * Set the goal angle of the arm
+     * 
+     * @param angle {@link Angle} representing the desired angle
+     * @return {@link Command}
+     */
+    public Command goToAngle(Angle angle) {
+        return pivot.goToAngle(angle);
+    }
+
+    /** 
+     * Hold pivot at its current position for the duration of this command's life
+     * 
+     * @return {@link Command}
+     */
+    public Command hold() {
+        return pivot.hold();
+    }
+
+    /**
+     * Run roller at specified voltage
+     *
+     * @param volts desired voltage
+     * @return {@link Command}
+     */
+    public Command runRollerVolts(DoubleSupplier volts) {
+        return roller.runRollerVolts(volts);
+    }
+
+    /**
+     * Run roller at specified voltage
+     *
+     * @param volts desired voltage
+     * @return {@link Command}
+     */
+    public Command runRollerVolts(double volts) {
+        return roller.runRollerVolts(volts);
+    }
+
+    @Override
+    public void close() throws Exception {
+        pivot.close();
+        roller.close();
+    }
+}