From 3a3aa6eb77f0dcb2f95094d978afcbb570f55f37 Mon Sep 17 00:00:00 2001
From: NeonCoal <52942449+NeonCoal@users.noreply.github.com>
Date: Tue, 9 Jan 2024 19:34:46 -0500
Subject: [PATCH] a

---
 .../TelescopingArm/TelescopingArm.kt          | 19 +------------------
 .../TelescopingArm/TelescopingArmIO.kt        |  2 +-
 .../TelescopingArm/TelescopingArmIOReal.kt    | 18 +++++++++++++++++-
 3 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
index 47cea5ec..6e59d178 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
@@ -18,23 +18,6 @@ import edu.wpi.first.math.controller.ElevatorFeedforward
 import edu.wpi.first.math.trajectory.TrapezoidProfile
 import edu.wpi.first.wpilibj2.boardmand.SubsystemBase
 import org.littletonrobotics.junction.Logger
-class TelescopingArm {
+class TelescopingArm(val io: TelescopingClimberIO) : SubsystemBase() {
 
-    fun holdPosition(loaded: Boolean = true) {
-        if (loaded) {
-            io.setLeftPosition(inputs.leftPosition, loadedFeedForward.calculate(0.0).volts)
-            io.setRightPosition(inputs.rightPosition, loadedFeedForward.calculate(0.0).volts)
-        } else {
-            io.setLeftPosition(inputs.leftPosition, noLoadFeedForward.calculate(0.0).volts)
-            io.setRightPosition(inputs.rightPosition, noLoadFeedForward.calculate(0.0).volts)
-        }
-    }
-
-    fun zeroLeftEncoder() {
-        io.zeroLeftEncoder()
-    }
-
-    fun zeroRightEncoder() {
-        io.zeroRightEncoder()
-    }
 }
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
index dd89b2bd..7de40498 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
@@ -1,4 +1,4 @@
-package com.team4099.robot2023.subsystems.TelescopingArm
+package board.team4099.robot2023.subsystems.TelescopingArm
 
 interface TelescopingArmIO {
 }
\ No newline at end of file
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
index a386a714..f80cf52d 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
@@ -1,4 +1,20 @@
 package com.team4099.robot2023.subsystems.TelescopingArm
 
-object TelescopingArmIOReal {
+import board.ctre.phoenix.motorcontrol.ControlMode
+import board.ctre.phoenix.motorcontrol.DemandType
+import board.ctre.phoenix.motorcontrol.NeutralMode
+import board.ctre.phoenix.motorcontrol.can.TalonFX
+import board.ctre.phoenix.motorcontrol.can.TalonFXConfiguration
+import board.team4099.lib.units.base.Length
+import board.team4099.lib.units.base.amps
+import board.team4099.lib.units.ctreLinearMechanismSensor
+import board.team4099.lib.units.derived.ElectricalPotential
+import board.team4099.lib.units.derived.inVolts
+import board.team4099.lib.units.derived.volts
+import board.team4099.robot2022.config.constants.Constants
+import board.team4099.robot2022.config.constants.Constants.Universal.CANIVORE_NAME
+import board.team4099.robot2022.config.constants.TelescopingClimberConstants
+
+object TelescopingArmIOReal : TelescopingClimberIO {
+
 }
\ No newline at end of file