nerf intake to not use position for otb intake. delete arm example bc it is redundant with elevator existing

Author: Ishan1522

src/main/java/frc/robot/subsystems/arm/Arm.java

@@ -1,6 +1,8 @@
 /** This subsystem is an elevator that uses PID for its position. */
 package frc.robot.subsystems.elevator;
 
+import org.littletonrobotics.junction.Logger;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Elevator extends SubsystemBase {
@@ -32,5 +34,7 @@ public void setVolts(double volts) {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    elevatorInterface.updateInputs(inputs);
+    Logger.processInputs("Elevator/", inputs);
   }
 }

src/main/java/frc/robot/subsystems/arm/ArmConstants.java

@@ -33,7 +33,7 @@ public void updateInputs(ElevatorInputs inputs) {
   }
 
   public void setElevatorPosition(double position) {
-    elevatorSim.setState(simPID.calculate(position), ElevatorConstants.VELOCITY_METERS_PER_SECOND);
+    setVolts(simPID.calculate(getElevatorPosition(), position));
   }
 
   public double getElevatorPosition() {

src/main/java/frc/robot/subsystems/arm/ArmInterface.java

@@ -18,12 +18,12 @@ public Intake(IntakeInterface intakeInterface) {
    */
   public void setIntakeSpeed(double speed) {
     intakeInterface.setIntakeSpeed(speed);
-    Logger.recordOutput("OTBIntake/Intake", speed);
+    Logger.recordOutput("OTBIntake/IntakeSpeed", speed);
   }
 
   @Override
   public void periodic() {
     intakeInterface.updateInputs(inputs);
-    Logger.processInputs("OTBIntake", inputs);
+    Logger.processInputs("OTBIntake/", inputs);
   }
 }

src/main/java/frc/robot/subsystems/arm/PhysicalArm.java

@@ -12,8 +12,6 @@
 public class PhysicalIntake implements IntakeInterface {
   private final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID);
 
-  private final MotionMagicVoltage mmPositionRequest = new MotionMagicVoltage(0);
-
   private final StatusSignal<AngularVelocity> intakeVelocity;
 
   public PhysicalIntake() {

src/main/java/frc/robot/subsystems/arm/SimulatedElevator.java

@@ -3,13 +3,17 @@
 import static edu.wpi.first.units.Units.*;
 
 import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 
 public class SimulatedIntake implements IntakeInterface {
-  DCMotorSim intakeSim = new DCMotorSim(null, DCMotor.getFalcon500(1), 0);
+  DCMotorSim intakeSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(DCMotor.getFalcon500(1), 0.01, 1), DCMotor.getFalcon500(1), 0);
   private double intakeAppliedVolts = 0.0;
 
-  public SimulatedIntake(IntakeInputs inputs) {
+  public SimulatedIntake() {}
+
+  @Override
+  public void updateInputs(IntakeInputs inputs) {
     intakeSim.update(0.02);
 
     inputs.intakeVelocity =