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