Added Feeder IO File

build.gradle

@@ -84,9 +84,9 @@ dependencies {
 
 	implementation 'org.jetbrains.kotlin:kotlin-test-junit5'
 	implementation 'com.github.team4099:FalconUtils:1.1.26'
-	implementation 'org.apache.commons:commons-collections4:4.0'
+	implementation 'org.apache.commons:commons-collections4:4.4'
 	implementation 'com.google.code.gson:gson:2.10.1'
-	implementation "io.javalin:javalin:5.3.2"
+	implementation 'io.javalin:javalin:5.4.2'
 
 	// We need to add the Kotlin stdlib in order to use most Kotlin language features.
 	// compile "org.jetbrains.kotlin:kotlin-stdlib"

src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIO.kt

@@ -0,0 +1,66 @@
+package com.team4099.robot2023.subsystems.feeder
+
+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.derived.ElectricalPotential
+import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.volts
+
+interface FeederIO {
+    class FeederIOInputs: LoggableInputs {
+        var floorAppliedVoltage = 0.0.volts
+        var floorStatorCurrent = 0.0.amps
+        var floorSupplyCurrent = 0.0.amps
+        var floorTemp = 0.0.celsius
+        var verticalAppliedVoltage = 0.0.volts
+        var verticalStatorCurrent = 0.0.amps
+        var verticalSupplyCurrent = 0.0.amps
+        var verticalTemp = 0.0.celsius
+
+        var isSimulated = false
+
+        override fun toLog(table: LogTable?) {
+            table?.put("floorAppliedVoltage", floorAppliedVoltage.inVolts)
+            table?.put("floorStatorCurrent", floorStatorCurrent.inAmperes)
+            table?.put("floorSupplyCurrent", floorSupplyCurrent.inAmperes)
+            table?.put("floorTempCelcius", floorTemp.inCelsius)
+            table?.put("verticalAppliedVoltage", verticalAppliedVoltage.inVolts)
+            table?.put("verticalStatorCurrent", verticalStatorCurrent.inAmperes)
+            table?.put("verticalSupplyCurrent", verticalSupplyCurrent.inAmperes)
+            table?.put("verticalTempCelcius", verticalTemp.inCelsius)
+        }
+
+        override fun fromLog(table: LogTable?) {
+            table?.getDouble("floorAppliedVoltage", floorAppliedVoltage.inVolts)?.let {
+                floorAppliedVoltage = it.volts
+            }
+            table?.getDouble("floorStatorCurrent", floorStatorCurrent.inAmperes)?.let {
+                floorStatorCurrent = it.amps
+            }
+            table?.getDouble("floorSupplyCurrent", floorSupplyCurrent.inAmperes)?.let {
+                floorSupplyCurrent = it.amps
+            }
+            table?.getDouble("floorTempCelcius", floorTemp.inCelsius)?.let { floorTemp = it.celsius }
+            table?.getDouble("verticalAppliedVoltage", verticalAppliedVoltage.inVolts)?.let {
+                verticalAppliedVoltage = it.volts
+            }
+            table?.getDouble("verticalStatorCurrent", verticalStatorCurrent.inAmperes)?.let {
+                verticalStatorCurrent = it.amps
+            }
+            table?.getDouble("verticalSupplyCurrent", verticalSupplyCurrent.inAmperes)?.let {
+                verticalSupplyCurrent = it.amps
+            }
+            table?.getDouble("verticalTempCelcius", verticalTemp.inCelsius)?.let { verticalTemp = it.celsius }
+        }
+
+        fun updateInputs(inputs: FeederIOInputs) {}
+
+        fun setFloorVoltage(voltage: ElectricalPotential) {}
+
+        fun setVerticalVoltage(voltage: ElectricalPotential) {}
+    }
+}