fixed some duplicates in IO

Author: AlbertAlwaysWins

src/main/java/frc/robot/subsystems/elevator/Elevator.java

@@ -10,23 +10,29 @@
 
 
 public class Elevator extends SubsystemBase{
-    private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
+  
+  
+  private final ElevatorIO io;
+  private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
 
 
 
-private final ElevatorIO io;
+  public Elevator(ElevatorIO io) {
+    this.io = io;
+  }
+
 
 @Override
 public void periodic() {
-  ElevatorIO.updateInputs(ElevatorInputs);
+  io.updateInputs(ElevatorInputs);
 }
 
 public Command runVoltageCommand(Supplier<Voltage> voltage) {
-    return run(() -> ElevatorIO.setVoltage(voltage.get())).withName("Voltage");
+    return run(() -> io.setVoltage(voltage.get())).withName("Voltage");
   }
 
  public Command runRPMCommand(Supplier<AngularVelocity> rpm) {
-    return run(() -> ElevatorIO.setRPM(rpm.get())).withName("RPM");
+    return run(() -> io.setRPM(rpm.get())).withName("RPM");
   }   
 
 

src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java

@@ -26,30 +26,29 @@ public static class ElevatorIOInputs {
 
     default void updateInputs(ElevatorIOInputs inputs) {}
 
-    default void setVoltage(double voltage) {}
     // Getter method for target height
-    default void getSetpoint() {
+    default double getSetpoint() {
         return 0.0;
     }
 
     // Getter method for current position
-    default void getPosition() {
+    default double getPosition() {
         return 0.0;
     }
 
-    default void updateInputs(ElevatorIOInputs inputs) {}
     // Getter method for velocity
-    default void getVelocity(){
+    default double getVelocity(){
         return 0.0;
     }
 
     default void setRPM(double rpm){}
+   
     // Checking if elevator goes above limit height
     default boolean isLimitSwitchPressed() {
         return false;
     }
 
-    default void setFeedForwardGains(double kS, double kV, double kA) {}
+   
 
     // Subsystem API (Used by commands)