grabber IO done i think

Author: themehdev

src/main/java/frc/robot/subsystems/grabber/GrabberIO.java

@@ -1,7 +1,43 @@
 package frc.robot.subsystems.grabber;
 
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Volts;
 
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
 
 public interface GrabberIO {
 
+    @AutoLog
+    public class GrabberIOInputs {
+
+        public Angle grabberPosition = Radians.zero();
+        public AngularVelocity grabberVelocity = RadiansPerSecond.zero();
+        public AngularAcceleration grabberAccel = RadiansPerSecondPerSecond.zero();
+        public Voltage grabberVoltage = Volts.zero();
+        public Current grabberCurrent = Amps.zero();
+
+        public boolean hasAlgae = false;
+        public boolean algaeSensor1 = false;
+        public boolean algaeSensor2 = false;
+
+        public boolean hasCoral = false;
+        public boolean coralSensor = false;
+    }
+
+    public default void updateInputs(GrabberIOInputs inputs){};
+
+    public default void setGrabberVoltage(Voltage voltage){};
+
+    public default void setGrabberTarget(Angle angle){};
+
+
 }