started IO hardware

Author: pranayk-rep

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

@@ -1,7 +1,7 @@
-package frc.robot.subsystems.manipulator;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-
-public class Manipulator extends SubsystemBase {
-    
-}
+package frc.robot.subsystems.manipulator;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+public class Manipulator extends SubsystemBase {
+    
+}

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

@@ -1,5 +1,5 @@
-package frc.robot.subsystems.manipulator;
-
-public class ManipulatorConstants {
-    
-}
+package frc.robot.subsystems.manipulator;
+
+public class ManipulatorConstants {
+    
+}

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

@@ -1,5 +1,86 @@
-package frc.robot.subsystems.manipulator;
-
-public interface ManipulatorIO {
-    
-}
+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 static edu.wpi.first.units.Units.Watts;
+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.Power;
+import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
+
+
+
+public interface ManipulatorIO  {
+  @AutoLog
+  public static class ManipulatorIOInputs {
+    //inputs of postion,current,voltage and velocity (acceleration) 
+    
+    public 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 the voltage and postion) 
+  public boolean elevator1isReady = false;  
+  public Voltage elevator1vVoltage = Volts.of(0);
+  public  Current elevator1Current = Amps.of(0);
+  public Power  elevator1power = Watts.zero();
+  public Power elevator1powerAvg = Watts.zero(); 
+
+//elevator 2 constants (inputs of the voltage and postion)
+public boolean elevator2isReady = false;
+public Voltage elevator2vVoltage= Volts.of(0);
+public Current elevator2Current = Amps.of(0);
+public Power elevator2power= Watts.zero();
+public Power elevator2powerAvg = Watts.zero(); 
+
+//encoder 
+public Angle absoluteEncoder = Degrees.of(0);
+public double rawabsoluteEncoder = 0;
+  
+ // updating the inputs on the elevator 
+   public default void updateInputs(ManipulatorIOInputs inputs) {}
+    public default void toggleSyncing()  {} 
+     
+    //need for SYS ID support 
+    public default void logArmMotor(SysIdRoutineLog log) {}
+
+    public default void setElevatorMotorVoltage(double vol) {}
+
+    public default void logElevatorMotor(SysIdRoutineLog log) {}
+
+    // ELEVATOR METHODS
+    public default void setElevatorTarget(Distance dist) {}
+    public default void setElevatorPosition(Distance d) {} ;
+
+    // ARM METHODS
+    public default void setArmTarget(Angle angle) {}
+}
+  
+
+
+
+

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

@@ -1,5 +1,19 @@
-package frc.robot.subsystems.manipulator;
-
-public class ManipulatorIOHardware {
-    
-}
+package frc.robot.subsystems.manipulator;
+import static edu.wpi.first.units.Units.*;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import edu.wpi.first.wpilibj.simulation.DutyCycleEncoderSim;
+
+
+public class ManipulatorIOHardware implements ManipulatorIO  {
+    private TalonFX arm_motor_;
+    private TalonFX elevator_motor;
+    private TalonFX elevator_motor_2; 
+    private DutyCycleEncoder encoder_;
+
+    private DCMotorSim arm_Sim;
+    private DCMotorSim elevator_Sim;
+    private DutyCycleEncoderSim arm_encoder_sim;
+    private boolean encoder_motor_
+}