Create roller subsystem

src/main/java/frc/robot/subsystems/rollers/RollerIOsparkmax.java

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+package frc.robot.subsystems.rollers;
+
+import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.SparkPIDController.ArbFFUnits;
+import edu.wpi.first.math.util.Units;
+
+
+
+public class RollerIOsparkmax implements RollersIO {
+    private final CANSparkMax rollerMotor = new CANSparkMax(0,MotorType.kBrushless);
+
+    public RollerIOsparkmax() {
+        rollerMotor.restoreFactoryDefaults();
+    }
+    @Override
+    public void updateInputs(RollerIOInputs inputs){
+        inputs.appliedVolts = rollerMotor.getAppliedOutput() * rollerMotor.getBusVoltage();
+        inputs.currentAmps = rollerMotor.getOutputCurrent();
+    }
+
+    @Override
+    public void runVolts(double volts){
+        rollerMotor.setVoltage(volts);
+    }
+}
+

src/main/java/frc/robot/subsystems/rollers/Rollers.java

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+package frc.robot.subsystems.rollers;
+
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.robot.Constants;
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+
+public class Rollers extends SubsystemBase{
+    private final RollersIO io;
+    //private final RollersIOInputsAutoLogged inputs = new RollersIOInputsAutoLogged();
+
+    public Rollers(RollersIO io){
+        this.io = io;
+    }
+
+    public void runVolts(double volts){
+        io.setVoltage(volts);
+    }
+}

src/main/java/frc/robot/subsystems/rollers/RollersIO.java

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+package frc.robot.subsystems.rollers;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface RollersIO {
+  @AutoLog
+  public static class RollerIOInputs {
+    public double positionRad = 0.0;
+    public double velocityRadPerSec = 0.0;
+    public double appliedVolts = 0.0;
+    public double currentAmps = 0.0;
+  }
+
+  public default void updateInputs(RollerIOInputs inputs) {}
+
+  public default void runVolts(double volts) {}
+
+  public default void stopRoller() {}
+}

src/main/java/frc/robot/subsystems/rollers/rollerIOsim.java

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+package frc.robot.subsystems.rollers;
+
+public class rollerIOsim {}