Intake bp

bp for intake with setmode method

src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java

@@ -0,0 +1,42 @@
+package frc4388.robot.subsystems.intake;
+
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.InchesPerSecond;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.LinearVelocity;
+
+public interface IntakeIO {
+    @AutoLog
+    public class IntakeState {
+        Angle armAngle = Rotations.of(0);
+        Angle armTargetAngle = Rotations.of(0);
+        Current armMotorCurrent = Amps.of(0);
+
+        // Angle shooterPitch = Rotations.of(0);
+        // Angle shooterTargetPitch = Rotations.of(0);
+        // Current pitchMotorCurrent = Amps.of(0);
+
+        AngularVelocity rollerVelocity = RotationsPerSecond.of(0);
+        AngularVelocity rollerTargetVelocity = RotationsPerSecond.of(0);
+        Current rollerMotorCurrent = Amps.of(0);
+
+        // LinearVelocity feederVelocity = InchesPerSecond.of(0);
+        // LinearVelocity feederTargetVelocity = InchesPerSecond.of(0);
+        // Current feederMotorCurrent = Amps.of(0);
+    }
+
+    // public default void setShooterAngle(ShooterState state, Angle angle) {}
+    // public default void setShooterPitch(ShooterState state, Angle angle) {}
+    public default void setArmAngle(IntakeState state, Angle angle) {}
+    public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
+
+    public default void updateInputs(IntakeState state) {}
+}