Add power monitoring to subsystems

	modified:   src/main/java/frc/robot/subsystems/algae_mech/AlgaeMech.java
	modified:   src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIO.java
	modified:   src/main/java/frc/robot/subsystems/climber/Climb.java
	modified:   src/main/java/frc/robot/subsystems/climber/ClimbIO.java
	modified:   src/main/java/frc/robot/subsystems/climber/ClimbIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIO.java
	modified:   src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/elevator/Elevator.java
	modified:   src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java

src/main/java/frc/robot/subsystems/algae_mech/AlgaeMech.java

@@ -14,6 +14,7 @@
 package frc.robot.subsystems.algae_mech;
 
 import frc.robot.util.RBSISubsystem;
+import org.littletonrobotics.junction.Logger;
 
 public class AlgaeMech extends RBSISubsystem {
 
@@ -23,4 +24,15 @@ public class AlgaeMech extends RBSISubsystem {
   public AlgaeMech(AlgaeMechIO io) {
     this.io = io;
   }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("AlgaeMech", inputs);
+  }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
 }

src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIO.java

@@ -17,11 +17,19 @@
 
 public interface AlgaeMechIO {
 
+  public final int[] powerPorts = {};
+
   @AutoLog
   public static class AlgaeMechIOInputs {
     public double positionRad = 0.0;
     public double velocityRadPerSec = 0.0;
     public double appliedVolts = 0.0;
     public double[] currentAmps = new double[] {};
   }
+
+  public default void updateInputs(AlgaeMechIOInputs inputs) {}
+
+  public default void setCoast() {}
+
+  public default void setBrake() {}
 }

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

@@ -40,4 +40,9 @@ public void rachetToggle(boolean toggleSwitch) {
       io.turnClimbServo(1);
     }
   }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
 }

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

@@ -13,13 +13,26 @@
 
 package frc.robot.subsystems.climber;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface ClimbIO {
 
+  public final int[] powerPorts = {};
+
+  @AutoLog
+  public static class ClimbIOInputs {}
+
+  public default void updateInputs(ClimbIOInputs inputs) {}
+
   public default void turnClimbServo(double position) {}
 
   public default void twistMotorToPosition(double positionInRotations) {}
 
   public default void configPID(double kP, double kI, double kD) {}
 
   public default void twistMotorVolts(double volts) {}
+
+  public default void setCoast() {}
+
+  public default void setBrake() {}
 }

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

@@ -25,6 +25,8 @@ public class ClimbIOTalonFX implements ClimbIO {
   private final Servo climbExtender = new Servo(CANandPowerPorts.CLIMB_SERVO);
   private final TalonFX climber = new TalonFX(CANandPowerPorts.CLIMB.getDeviceNumber());
 
+  public final int[] powerPorts = {CANandPowerPorts.CLIMB.getPowerPort()};
+
   public ClimbIOTalonFX() {
     var climbConfig = new TalonFXConfiguration();
     climbConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;

src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIO.java

@@ -13,14 +13,17 @@
 
 package frc.robot.subsystems.coral_mech;
 
+import frc.robot.subsystems.algae_mech.AlgaeMechIO.AlgaeMechIOInputs;
 import org.littletonrobotics.junction.AutoLog;
 
 public interface CoralScorerIO {
 
+  public final int[] powerPorts = {};
+
   @AutoLog
-  public static class IntakeIOInputs {}
+  public static class CoralScorerIOInputs {}
 
-  public final int[] powerPorts = {};
+  public default void updateInputs(AlgaeMechIOInputs inputs) {}
 
   public default void setVolts(double volts) {}
 
@@ -31,4 +34,8 @@ public default boolean getLightStop() {
   }
 
   public default void setVelocity(double velocity) {}
+
+  public default void setCoast() {}
+
+  public default void setBrake() {}
 }

src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIOTalonFX.java

@@ -14,11 +14,14 @@
 package frc.robot.subsystems.coral_mech;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import frc.robot.Constants.CANandPowerPorts;
 
 public class CoralScorerIOTalonFX implements CoralScorerIO {
 
   private final DigitalInput lightStop = new DigitalInput(5);
 
+  public final int[] powerPorts = {CANandPowerPorts.CORAL_MECH.getPowerPort()};
+
   @Override
   public boolean getLightStop() {
     return lightStop.get();

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

@@ -127,4 +127,9 @@ public void setCoast() {
   public void setBrake() {
     io.setBrake();
   }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
 }

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

@@ -28,10 +28,10 @@ public static class ElevatorIOInputs {
     public double[] currentAmps = new double[] {};
   }
 
-  public default void setPosistion(double posistion) {}
-
   public default void updateInputs(ElevatorIOInputs inputs) {}
 
+  public default void setPosistion(double posistion) {}
+
   public default void stop() {}
 
   public default boolean getBottomStop() {