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