added manipulator constants

Author: pranayk-rep

src/main/java/frc/robot/subsystems/manipulator/ManipulatorIO.java

@@ -1,10 +1,17 @@
 package frc.robot.subsystems.manipulator;
+import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
+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.AngularVelocity;
 import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.Voltage;
 
 
@@ -13,15 +20,30 @@ public interface ManipulatorIO  {
   @AutoLog
    public static class ManipulatorIOInputs {
     //inputs of postion,current,voltage and velocity (acceleration) 
-    public class ArmStatus {
-      public boolean armReady = false;
-      public Angle armPosition = Degrees.of(0);
-      public Current armCurrent = null;
-      public Voltage armVoltage = null;
-      public AngularVelocity armVelocity = RadiansPerSecond.of(0);
-      public Angle armRawMotorPosition = Degrees.of(0);
-      public AngularVelocity  armRawMotorVelocity = DegreesperSecond  
-  
-   
+    public static final AngularVelocity DegreesperSecond = null;
+    
+        public class ArmStatus {
+
+                    public boolean armReady = false;
+                    public Angle armPosition = Degrees.of(0);
+                    public Current armCurrent = null;
+                    public Voltage armVoltage = null;
+                    public AngularVelocity armVelocity = RadiansPerSecond.of(0);
+                    public Angle armRawMotorPosition = Degrees.of(0);
+                    public AngularVelocity  armRawMotorVelocity = DegreesperSecond;  
+                public int syncCount =  Integer.MAX_VALUE; 
+                
+                //constants for elevator part of the manipulator  
+                 public Distance elevatorPostion = Meters.of(0);
+                 public LinearVelocity elevatorVelocity = MetersPerSecond.of(0); 
+                public Angle elevatorRawMotorPostion = Degrees.of(syncCount);
+        }
+      }
+      //elevator contants (inputs of voltage and postion) 
+       public boolean elevator1isReady = false;  
+       public Voltage elevator1vVoltage = Volts.of(0);
+       public  Current elevator1Current = Amps.of(0);
+
    }
-}
+     
+