elevatorIO

src/main/kotlin/com/team4099/robot2023/subsystems/elevator/elevatorIO.kt

@@ -0,0 +1,111 @@
+package com.team4099.robot2023.subsystems.elevator
+
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+import org.team4099.lib.units.base.Length
+import org.team4099.lib.units.base.Meter
+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.base.inInches
+import org.team4099.lib.units.base.inches
+import org.team4099.lib.units.derived.DerivativeGain
+import org.team4099.lib.units.derived.ElectricalPotential
+import org.team4099.lib.units.derived.IntegralGain
+import org.team4099.lib.units.derived.ProportionalGain
+import org.team4099.lib.units.derived.Volt
+import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.inInchesPerSecond
+import org.team4099.lib.units.perSecond
+
+interface elevatorIO {
+    class ElevatorInputs : LoggableInputs {
+        var elevatorPosition = 0.0.inches
+        var elevatorVelocity = 0.0.inches.perSecond
+
+        var leaderAppliedVoltage = 0.0.volts
+        var followerAppliedVoltage = 0.0.volts
+
+        var leaderSupplyCurrent = 0.0.amps
+        var leaderStatorCurrent = 0.0.amps
+
+        var followerSupplyCurrent = 0.0.amps
+        var followerStatorCurrent = 0.0.amps
+
+        var leaderTempCelcius = 0.0.celsius
+        var followerTempCelcius = 0.0.celsius
+
+        var leaderRawPosition = 0.0
+        var followerRawPosition = 0.0
+
+        var isSimulating = false
+
+        override fun toLog(table: LogTable) {
+            table?.put("elevatorPositionInches", elevatorPosition.inInches)
+            table?.put("elevatorVelocityInchesPerSec", elevatorVelocity.inInchesPerSecond)
+            table?.put("elevatorLeaderAppliedVolts", leaderAppliedVoltage.inVolts)
+            table?.put("elevatorFollowerAppliedVolts", followerAppliedVoltage.inVolts)
+            table?.put("elevatorLeaderStatorCurrentAmps", leaderStatorCurrent.inAmperes)
+            table?.put("elevatorFollowerStatorCurrentAmps", followerStatorCurrent.inAmperes)
+            table?.put("elevatorLeaderSupplyCurrentAmps", leaderSupplyCurrent.inAmperes)
+            table?.put("elevatorFollowerSupplyCurrentAmps", followerSupplyCurrent.inAmperes)
+            table?.put("elevatorLeaderTempCelsius", leaderTempCelcius.inCelsius)
+            table?.put("elevatorFollowerTempCelsius", followerTempCelcius.inCelsius)
+            table?.put("elevatorLeaderRawPosition", leaderRawPosition)
+            table?.put("elevatorFollowRawPosition", followerRawPosition)
+        }
+
+        override fun fromLog(table: LogTable?) {
+            table?.get("elevatorPositionInches", elevatorPosition.inInches)?.let {
+                elevatorPosition = it.inches
+            }
+            table?.get("elevatorVelocityInchesPerSec", elevatorVelocity.inInchesPerSecond)?.let {
+                elevatorVelocity = it.inches.perSecond
+            }
+            table?.get("elevatorLeaderAppliedVolts", leaderAppliedVoltage.inVolts)?.let {
+                leaderAppliedVoltage = it.volts
+            }
+            table?.get("elevatorFollowerAppliedVolts", followerAppliedVoltage.inVolts)?.let {
+                followerAppliedVoltage = it.volts
+            }
+            table?.get("elevatorLeaderStatorCurrentAmps", leaderStatorCurrent.inAmperes)?.let {
+                leaderStatorCurrent = it.amps
+            }
+            table?.get("elevatorLeaderSupplyCurrentAmps", leaderSupplyCurrent.inAmperes)?.let {
+                leaderSupplyCurrent = it.amps
+            }
+            table?.get("elevatorLeaderTempCelcius", leaderTempCelcius.inCelsius)?.let {
+                leaderTempCelcius = it.celsius
+            }
+
+            table?.get("elevatorFollowerAppliedVolts", followerAppliedVoltage.inVolts)?.let {
+                followerAppliedVoltage = it.volts
+            }
+            table?.get("elevatorFollowerStatorCurrentAmps", followerStatorCurrent.inAmperes)?.let {
+                followerStatorCurrent = it.amps
+            }
+            table?.get("elevatorFollowerSupplyCurrentAmps", followerSupplyCurrent.inAmperes)?.let {
+                followerSupplyCurrent = it.amps
+            }
+            table?.get("elevatorFollowerTempCelcius", followerTempCelcius.inCelsius)?.let {
+                followerTempCelcius = it.celsius
+            }
+            table?.get("elevatorLeaderRawPosition", leaderRawPosition)?.let {
+                leaderRawPosition = it
+            }
+            table?.get("elevatorFollowerRawPosition", leaderRawPosition)?.let {
+                followerRawPosition = it
+            }
+    }
+        fun updateInputs(inputs: ElevatorInputs) {}
+        fun setOutputVoltage(voltage: ElectricalPotential) {}
+        fun setPosition(position: Length, feedForward: ElectricalPotential) {}
+        fun zeroEncoder() {}
+        fun configPID(
+                kP: ProportionalGain<Meter, Volt>,
+                kI: IntegralGain<Meter, Volt>,
+                kD: DerivativeGain<Meter, Volt>
+        ) {}
+    }