001package tagalong.logging;
002
003import org.littletonrobotics.junction.AutoLog;
004
005/**
006 * Interface with elevator hardware
007 */
008public interface ElevatorIO {
009  /**
010   * Set of loggable elevator inputs
011   */
012  @AutoLog
013  public static class ElevatorIOInputs {
014    /**
015     * Height of the elevator in meters
016     */
017    public double elevatorHeightM = 0.0;
018    /**
019     * Velocity of the elevator in meters per second
020     */
021    public double elevatorVelocityMPS = 0.0;
022    /**
023     * Applied (output) motor voltage of the elevator
024     */
025    public double elevatorAppliedVolts = 0.0;
026    /**
027     * Current corresponding to the stator windings of the elevator
028     */
029    public double elevatorCurrentAmps = 0.0;
030  }
031
032  /**
033   * Updates the set of loggable elevator inputs
034   *
035   * @param inputs elevator inputs
036   */
037  public default void updateInputs(ElevatorIOInputs inputs) {}
038}