Began arm code

src/main/java/com/frcteam3636/frc2024/CAN.kt

@@ -37,8 +37,8 @@ enum class CTREMotorControllerId(val num: Int, val bus: String) {
     BackLeftDrivingMotor(2, "*"),
     BackRightDrivingMotor(3, "*"),
     FrontRightDrivingMotor(4, "*"),
-    RightPivotMotor(10, "*"),
-    LeftPivotMotor(11, "*"),
+    RightArmMotor(10, "*"),
+    LeftArmMotor(11, "*"),
 }
 
 fun TalonFX(id: CTREMotorControllerId) = TalonFX(id.num, id.bus)

src/main/java/com/frcteam3636/frc2024/subsystems/arm/Arm.kt

@@ -0,0 +1,4 @@
+package com.frcteam3636.frc2024.subsystems.arm
+
+object Arm {
+}

src/main/java/com/frcteam3636/frc2024/subsystems/arm/ArmIO.kt

@@ -0,0 +1,72 @@
+package com.frcteam3636.frc2024.subsystems.arm
+import edu.wpi.first.math.geometry.Rotation2d
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+import com.frcteam3636.frc2024.CANSparkFlex
+import com.frcteam3636.frc2024.CTREMotorControllerId
+import com.frcteam3636.frc2024.REVMotorControllerId
+import com.frcteam3636.frc2024.TalonFX
+import com.revrobotics.CANSparkLowLevel
+import edu.wpi.first.networktables.NetworkTableInstance
+import edu.wpi.first.units.Angle
+import edu.wpi.first.units.Measure
+import edu.wpi.first.units.Units.Radians
+import edu.wpi.first.wpilibj.DigitalInput
+import edu.wpi.first.wpilibj.DutyCycleEncoder
+
+interface ArmIO{
+        class ArmInputs : LoggableInputs {
+            var rightPosition = Radians.zero()
+            var leftPosition = Radians.zero()
+
+            var rightCurrent: Double = 0.0
+            var leftCurrent: Double = 0.0
+
+            var rightVelocity: Double = 0.0
+            var leftVelocity: Double = 0.0
+
+            override fun toLog(table: LogTable) {
+                table.put("Right Arm Motor Position", rightPosition)
+                table.put("Left Arm Motor Position", leftPosition)
+
+                table.put("Right Arm Motor Current", rightCurrent)
+                table.put("Left Arm Motor Current", leftCurrent)
+
+                table.put("Right Arm Motor Velocity", rightVelocity)
+                table.put("Left Arm Motor Velocity", leftVelocity)
+            }
+
+            override fun fromLog(table: LogTable) {
+                rightPosition = table.get("Right Arm Motor Position", rightPosition)
+                leftPosition = table.get("Left Arm Motor Position", leftPosition)
+
+                rightCurrent = table.get("Right Arm Motor Current", rightCurrent)
+                leftCurrent = table.get("Left Arm Motor Current", leftCurrent)
+
+                rightVelocity = table.get("Right Arm Motor Velocity", rightVelocity)
+                leftVelocity = table.get("Left Arm Motor Velocity", leftVelocity)
+            }
+        }
+
+        fun updateInputs(inputs: ArmInputs)
+
+        fun setPosition(position: Measure<Angle>)
+    }
+
+    class ArmIOReal: ArmIO{
+
+        private val leftMotor = TalonFX(CTREMotorControllerId.LeftArmMotor)
+
+        private val rightMotor = TalonFX(CTREMotorControllerId.RightArmMotor)
+
+        private val absoluteEncoder = DutyCycleEncoder(DigitalInput(7))
+
+        override fun updateInputs(inputs: ArmIO.ArmInputs) {
+            TODO("Not yet implemented")
+        }
+
+        override fun setPosition(position: Measure<Angle>) {
+            TODO("Not yet implemented")
+        }
+
+    }