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package frc.robot.subsystems; | ||
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import org.littletonrobotics.junction.AutoLog; | ||
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public interface ElevatorIO { | ||
@AutoLog | ||
public static class FlywheelIOInputs { | ||
public double positionRad = 0.0; | ||
public double velocityRadPerSec = 0.0; | ||
public double appliedVolts = 0.0; | ||
public double[] currentAmps = new double[] {}; | ||
} | ||
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/** Updates the set of loggable inputs. */ | ||
public default void updateInputs(FlywheelIOInputs inputs) { | ||
} | ||
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/** Run closed loop at the specified velocity. */ | ||
public default void setVelocity(double velocityRadPerSec, double ffVolts) { | ||
} | ||
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/** Stop in open loop. */ | ||
public default void stop() { | ||
} | ||
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/** Set velocity PID constants. */ | ||
public default void configurePID(double kP, double kI, double kD) { | ||
} | ||
} |