armiosparkmax sorta - needa figure out error of setters + how breakbeam works

Author: raghavmani0129

src/main/java/frc/robot/subsystems/Arm/ArmConstants.java

@@ -1,3 +1,8 @@
 package frc.robot.subsystems.Arm;
 
-public class ArmConstants {}
+import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
+
+public class ArmConstants {
+
+    public static Constraints kArmConstraints;
+}

src/main/java/frc/robot/subsystems/Arm/ArmIO.java

@@ -4,11 +4,127 @@
 
 public interface ArmIO {
   @AutoLog // creates the class for us
-  public class ArmIOInputs {}
+  public class ArmIOInputs {
+    public double angle;
+    public double velocity;
+    public double appliedVoltage;
+  }
 
   public default void updateInputs(ArmIOInputs inputs) {}
 
-  public default void setVoltage(double voltage) {}
+  public default void setVoltage(double motorVolts) {}
+
+  public default double getAngle() {
+    return 0.0;
+  }
+  public default double getAngVelocity() {
+    return 0.0;
+  }
 
   public default void setPosition(double angle) {}
+
+  public default void setSetpoint(double setpoint) {}
+
+
+  public default void goToSetpoint() {}
+
+  public default void setBrake(boolean brake) {}
+
+  public default boolean atSetpoint() {
+    return false;
+  }
+
+  public default boolean isBreakBeamBroken() {
+    return false;
+  }
+
+  public default void setPIDConstants(double p, double i, double d) {}
+  public default void setFFConstants(double kS, double kG, double kV, double kA) {}
+  public default void setActiveFFConstants(double kS, double kG, double kV, double kA) {}
+
+  public default void setP(double p) {}
+
+  public default void setI(double i) {}
+
+  public default void setD(double d) {}
+
+  public default void setkS(double kS) {}
+
+  public default void setkV(double kV) {}
+
+  public default void setkG(double kG) {}
+
+  public default void setkA(double kA) {}
+
+  public default void setActiveP(double p) {}
+
+  public default void setActiveI(double i) {}
+
+  public default void setActiveD(double d) {}
+
+  public default void setActivekS(double kS) {}
+
+  public default void setActivekV(double kV) {}
+
+  public default void setActivekG(double kG) {}
+
+  public default void setActivekA(double kA) {}
+
+  public default double getP() {
+    return 0.0;
+  }
+
+  public default double getI() {
+    return 0.0;
+  }
+
+  public default double getD() {
+    return 0.0;
+  }
+
+  public default double getkS() {
+    return 0.0;
+  }
+
+  public default double getkG() {
+    return 0.0;
+  }
+
+  public default double getkV() {
+    return 0.0;
+  }
+
+  public default double getkA() {
+    return 0.0;
+  }
+
+  public default double getActiveP() {
+    return 0.0;
+  }
+
+  public default double getActiveI() {
+    return 0.0;
+  }
+
+  public default double getActiveD() {
+    return 0.0;
+  }
+
+  public default double getActivekS() {
+    return 0.0;
+  }
+
+  public default double getActivekG() {
+    return 0.0;
+  }
+
+  public default double getActivekV() {
+    return 0.0;
+  }
+
+  public default double getActivekA() {
+    return 0.0;
+  }
+
+
 }