Climber Sim Code Done (and IO updated)

Author: Sydney31

src/main/java/frc/robot/subsystems/climber/ClimberIO.java

@@ -6,12 +6,11 @@ public interface ClimberIO {
   @AutoLog
   class ClimberIOInputs {
     public double hangAppliedVolts = 0.0;
-    public double currentDrawLeft = 0.0;
-    public double currentDrawRight = 0.0;
+    public double leftCurrentAmps = 0.0;
+    public double rightCurrentAmps = 0.0;
     public double encoderRight = 0.0;
     public double encoderLeft = 0.0;
-    public double leftOutput;
-    public double rightOutput;
+
   }
 
   default void updateInputs(ClimberIOInputs inputs) {}

src/main/java/frc/robot/subsystems/climber/ClimberIOSIM.java

@@ -0,0 +1,60 @@
+package frc.robot.subsystems.climber;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+public class ClimberIOSIM implements ClimberIO{
+    private static final double LOOP_PERIOD_SECS = 0.02;
+
+    private static final DCMotor leftExtentionMotor = DCMotor.DCMotor.getVex775Pro(1);
+    private static final DCMotor rightExtentionMotor = DCMotorgetNEO(1);
+
+    private DCMotorSim intakeSpinMotor =
+        new DCMotorSim(
+            LinearSystemId.createDCMotorSystem(leftExtentionMotor, 1.0, 1.0), leftExtentionMotor);
+
+    private DCMotorSim intakeRotateMotor =
+        new DCMotorSim(
+            LinearSystemId.createDCMotorSystem(leftExtentionMotor, 1.0, 1.0), leftExtentionMotor);
+
+    private double hangAppliedVolts = 0.0;
+    private double leftCurrentAmps = 0.0;
+    private double rightCurrentAmps = 0.0;
+
+    @Override
+    public void updateInputs(EndEffectorIOInputs inputs) {
+        leftHangMotor.update(LOOP_PERIOD_SECS);
+        rightHangMotor.update(LOOP_PERIOD_SECS);
+
+        inputs.hangAppliedVolts = hangAppliedVolts;
+        inputs.leftCurrentAmps = leftCurrentAmps;
+        inputs.rightCurrentAmps = rightCurrentAmps;
+
+        inputs.spinAppliedVolts = intakeSpinMotor.getInputVoltage();
+        inputs.rightCurrentAmps = intakeSpinMotor.getCurrentDrawAmps();
+
+        inputs.spinPositionRad = intakeSpinMotor.getAngularPositionRad();
+        inputs.spinAngularVelocity = intakeSpinMotor.getAngularVelocity();
+
+        inputs.articulationPositionRad = intakeRotateMotor.getAngularPositionRad();
+        inputs.articulationAngularVelocity = intakeSpinMotor.getAngularVelocity();
+    }   
+
+    @Override
+    public void articulationRunVoltage(double voltage) {
+        articulationAppliedVolts = voltage;
+        intakeRotateMotor.setInputVoltage(voltage); //why setINPUTVoltage?
+    }
+
+    @Override
+    public void spinRunVoltage(double voltage) {
+        spinAppliedVolts = voltage;
+        intakeSpinMotor.setInputVoltage(voltage);  //why setINPUTVoltage?
+
+    }
+
+}
+
+
+inputs.articulationAppliedVolts = intakeRotateMotor.getAppliedOutput();
+inputs.articulationCurrentAmps = intakeRotateMotor.getOutputCurrent();

src/main/java/frc/robot/subsystems/endEffector/EndEffectorIO.java

@@ -1,6 +1,8 @@
 package frc.robot.subsystems.endEffector;
 
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.units.measure.AngularVelocity;
+
 import org.littletonrobotics.junction.AutoLog;
 
 public interface EndEffectorIO {
@@ -16,8 +18,10 @@ class EndEffectorIOInputs {
     public boolean limitSwitchPressed = false;
 
     public double spinPositionRad = 0.0;
+    public AngularVelocity spinAngularVelocity;
 
-    public double articulationAngularVelocity = 0.0;
+    public double articulationPositionRad = 0.0;
+    public AngularVelocity articulationAngularVelocity;
   }
 
   default void updateInputs(EndEffectorIOInputs inputs) {}

src/main/java/frc/robot/subsystems/endEffector/EndEffectorIOSim.java

@@ -9,12 +9,12 @@ public class EndEffectorIOSim implements EndEffectorIO {
     private static final DCMotor leftExtentionMotor = DCMotor.DCMotor.getVex775Pro(1);
     private static final DCMotor rightExtentionMotor = DCMotorgetNEO(1);
 
-  private DCMotorSim intakeSpinMotor =
-      new DCMotorSim(
+    private DCMotorSim intakeSpinMotor =
+        new DCMotorSim(
           LinearSystemId.createDCMotorSystem(leftExtentionMotor, 1.0, 1.0), leftExtentionMotor);
 
-  private DCMotorSim intakeRotateMotor =
-      new DCMotorSim(
+    private DCMotorSim intakeRotateMotor =
+        new DCMotorSim(
           LinearSystemId.createDCMotorSystem(leftExtentionMotor, 1.0, 1.0), leftExtentionMotor);
 
 
@@ -29,12 +29,6 @@ public void updateInputs(EndEffectorIOInputs inputs) {
         intakeSpinMotor.update(LOOP_PERIOD_SECS);
         intakeRotateMotor.update(LOOP_PERIOD_SECS);
 
-        //inputs.articulationPosition  = intakeSpinMotor.();
-        /*
-        private double intakeSpinMotorVelocityRadPerSec = intakeSpinMotor.getAngularVelocityRadPerSec();
-        private double intakeRotateMotorPositionRad = intakeRotateMotor.getAngularPositionRad();
-        private double intakeRotateMotorVelocityRadPerSec = intakeRotateMotor.getAngularVelocityRadPerSec();
-        */
         inputs.spinAppliedVolts = spinAppliedVolts;
         inputs.spinCurrentAmps = spinCurrentAmps;
 
@@ -46,7 +40,6 @@ public void updateInputs(EndEffectorIOInputs inputs) {
 
         inputs.articulationPositionRad = intakeRotateMotor.getAngularPositionRad();
         inputs.articulationAngularVelocity = intakeSpinMotor.getAngularVelocity();
-
 }
 
     @Override