toLog IO file

src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt

@@ -0,0 +1,4 @@
+package com.team4099.robot2023.subsystems.intake
+
+class Intake {
+}

src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIO.kt

@@ -0,0 +1,38 @@
+package com.team4099.robot2023.subsystems.intake
+
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+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.meters
+import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.rotations
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.inRotationsPerMinute
+import org.team4099.lib.units.perMinute
+import org.team4099.lib.units.perSecond
+
+interface IntakeIO {
+    class IntakeIOInputs : LoggableInputs {
+        var rollerVelocity = 0.0.rotations.perMinute
+
+        var rollerAppliedVoltage = 0.0.volts
+        var rollerSupplyCurrent = 0.0.amps
+        var rollerStatorCurrent = 0.0.amps
+        var rollerTemp = 0.0.celsius
+
+        override fun toLog(table: LogTable?) {
+            table?.put("rollerVelocityRPM", rollerVelocity.inRotationsPerMinute)
+
+            table?.put("rollerAppliedVoltage", rollerAppliedVoltage.inVolts)
+
+            table?.put("rollerSupplyCurrentAmps", rollerSupplyCurrent.inAmperes)
+
+            table?.put("rollerStatorCurrentAmps", rollerStatorCurrent.inAmperes)
+
+            table?.put("rollerTempCelsius", rollerTemp.inCelsius)
+        }
+    }
+}