set up DCmotorsim stuff even tho i prolly won't have time to actually…

… use it

src/main/java/org/codeorange/frc2024/utility/logging/DCMotorSimAutoLogger.java

@@ -0,0 +1,29 @@
+package org.codeorange.frc2024.utility.logging;
+
+import org.codeorange.frc2024.utility.simulation.BetterDCMotorSim;
+
+import static org.codeorange.frc2024.robot.Constants.NOMINAL_DT;
+
+public class DCMotorSimAutoLogger implements MotorAutoLogger {
+    private final MotorInputs inputs;
+    private final BetterDCMotorSim motorSim;
+
+    public DCMotorSimAutoLogger(BetterDCMotorSim sim) {
+        inputs = new MotorInputs();
+        motorSim = sim;
+    }
+
+    public MotorInputs log() {
+        inputs.CANID = -1;
+        inputs.position = motorSim.getAngularPositionRotations();
+        inputs.velocity = motorSim.getAngularVelocityRPM();
+        inputs.supplyVoltage = 12.5;
+        inputs.motorVoltage = motorSim.getInputVoltage();
+        inputs.supplyCurrent = motorSim.getCurrentDrawAmps();
+        inputs.statorCurrent = motorSim.getCurrentDrawAmps() / (inputs.motorVoltage / 12.5);
+        inputs.temperature = 30;
+        inputs.energy += inputs.supplyVoltage * inputs.supplyCurrent * NOMINAL_DT;
+
+        return inputs;
+    }
+}

src/main/java/org/codeorange/frc2024/utility/simulation/BetterDCMotorSim.java

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+package org.codeorange.frc2024.utility.simulation;
+
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.math.system.LinearSystem;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+/**
+ * DCMotorSim but stores input voltage because i am lazy
+ */
+public class BetterDCMotorSim extends DCMotorSim {
+    private double inputVoltage = 0;
+
+    public BetterDCMotorSim(LinearSystem<N2, N1, N2> plant, DCMotor gearbox, double gearing) {
+        super(plant, gearbox, gearing);
+    }
+
+    public BetterDCMotorSim(LinearSystem<N2, N1, N2> plant, DCMotor gearbox, double gearing, Matrix<N2, N1> measurementStdDevs) {
+        super(plant, gearbox, gearing, measurementStdDevs);
+    }
+
+    public BetterDCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
+        super(gearbox, gearing, jKgMetersSquared);
+    }
+
+    public BetterDCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N2, N1> measurementStdDevs) {
+        super(gearbox, gearing, jKgMetersSquared, measurementStdDevs);
+    }
+
+    @Override
+    public void setInputVoltage(double volts) {
+        inputVoltage = volts;
+        setInput(volts);
+    }
+
+    public double getInputVoltage() {
+        return inputVoltage;
+    }
+}