Removed elevator input logging, fixed bugs

src/main/java/frc/robot/RobotContainer.java

@@ -52,6 +52,7 @@
 import frc.robot.subsystems.DrivebaseSubsystemIO;
 import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.ElevatorSubsystem.ElevatorState;
+import frc.robot.subsystems.IntakeIO;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.Modes;
 import frc.robot.subsystems.NetworkWatchdogSubsystem;
@@ -103,7 +104,7 @@ public class RobotContainer {
 
   private final ElevatorSubsystem elevatorSubsystem = new ElevatorSubsystem();
 
-  private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
+  private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(new IntakeIO() {});
 
   private final SharedReference<NodeSelection> currentNodeSelection =
       new SharedReference<>(new NodeSelection(NodeSelectorUtility.defaultNodeStack, Height.HIGH));

src/main/java/frc/robot/subsystems/DrivebaseSubsystemIO.java

@@ -13,7 +13,6 @@
 
 package frc.robot.subsystems;
 
-import edu.wpi.first.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.AutoLog;
 
 public interface DrivebaseSubsystemIO {
@@ -38,8 +37,6 @@ public static class DrivebaseSubsystemIOInputs {
     public double backRightVelocityRadPerSec = 0.0;
     public double backRightAppliedVolts = 0.0;
     public double[] backRightCurrentAmps = new double[] {};
-
-    public Rotation2d gyroYaw = new Rotation2d();
   }
 
   /** Updates the set of loggable inputs. */

src/main/java/frc/robot/subsystems/ElevatorSubsystem.java

@@ -21,10 +21,6 @@
 
 /** Add your docs here. */
 public class ElevatorSubsystem extends SubsystemBase {
-
-  private final ElevatorIO io;
-  private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
-
   public enum Modes {
     PERCENT_CONTROL,
     POSITION_CONTROL,
@@ -69,9 +65,7 @@ public enum Modes {
 
   public static record ElevatorState(double extension, double angle) {}
 
-  public ElevatorSubsystem(ElevatorIO io) {
-
-    this.io = io;
+  public ElevatorSubsystem() {
 
     currentMode = Modes.ZERO;
 
@@ -92,15 +86,15 @@ public ElevatorSubsystem(ElevatorIO io) {
     leftMotor.setSelectedSensorPosition(0);
     wristMotor.setSelectedSensorPosition(0);
 
-    currentExtension = inputs.currentExtension;
-    targetExtension = inputs.targetExtension;
-    currentWristAngle = inputs.currentWristAngle;
-    targetAngle = inputs.targetAngle;
-    elevatorPercentControl = inputs.elevatorPercentControl;
-    wristPercentControl = inputs.wristPercentControl;
+    currentExtension = 0.0;
+    targetExtension = 0.0;
+    currentWristAngle = 0.0;
+    targetAngle = 0.0;
+    elevatorPercentControl = 0.0;
+    wristPercentControl = 0.0;
 
-    elevatorZeroed = inputs.elevatorZeroed;
-    wristZeroed = inputs.wristZeroed;
+    elevatorZeroed = false;
+    wristZeroed = false;
 
     rightMotor.configFactoryDefault();
     leftMotor.configFactoryDefault();

src/main/java/frc/robot/subsystems/IntakeIO.java

@@ -6,7 +6,7 @@
 public interface IntakeIO {
   @AutoLog
   public static class IntakeIOInputs {
-    public Modes currentIntakeMode = Modes.OFF;
+    public String currentIntakeMode = Modes.OFF.toString();
     public double filterOutput = 0.0;
     public boolean isCone = false;
     public double motorOutput = 0.0;

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -29,6 +29,7 @@ public IntakeSubsystem(IntakeIO io) {
     shuffleboard.addBoolean("is cube intake", () -> motorIO.getIsCone());
   }
 
+  // These modes should probably be in the IntakeIOTalonFX class
   public enum Modes {
     INTAKE,
     OUTTAKE,
@@ -93,5 +94,7 @@ public void periodic() {
     }
 
     intakePeriodic(mode);
+
+    io.updateInputs(inputs);
   }
 }