Reduce boilerplate for advantagekit logging #75
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dlpond917
approved these changes
Apr 5, 2024
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Instead of manually logging
position,velocity,current,voltage, etc. for every motor in each subsystem, I've opted to switching over to keeping the shared desired fields in aMotorInputsdata class that implements StructSerializable, packaged with a helper class to automatically extract the information from a given TalonFX object. This should significantly reduce boilerplate while keeping everything we want to have logged packaged nicely.