Justin lau intake - #3
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Introduce LinearIntakeIO and an inner LintakeIOInputs class (implements LoggableInputs) to represent sensor and motor I/O for the linear intake subsystem. Adds fields for temperature, stator/supply currents, applied voltage, velocity, and position, plus a toLog method that writes these values in the chosen units. This scaffolds hardware I/O for the intake subsystem.
Adding functions and table gets
Add a new Intake subsystem implementation and supporting IO/contracts. Introduces IntakeConstants (start positions and idle voltages), LinearIntake state-machine (open-loop, closed-loop, idle) and its LinearIntakeIO interface/inputs (with logging and control methods), IntakeRollers state-machine and IntakeRollersIO, and extends the Superstructure Request sealed interface with RollerRequest and LintakeRequest types. Also includes fixes/cleanup to IO logging keys and unit types to ensure correct units are exposed and parsed.
…eClone-2026 into JustinLau-intake
…an why do i have to do this
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previous pr history visible in #1 |
00magikarp
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Jun 21, 2026
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