Added basic indexer commands and fixed some issues with indexer io.

src/main/java/com/frcteam3636/frc2024/subsystems/indexer/Indexer.kt

@@ -1,4 +1,31 @@
 package com.frcteam3636.frc2024.subsystems.indexer
 
+import edu.wpi.first.wpilibj2.command.Command
+import edu.wpi.first.wpilibj2.command.Subsystem
+import org.littletonrobotics.junction.Logger
+
 object Indexer {
+    private var io: IndexerIO = IndexerIOReal()
+
+    var inputs = IndexerIO.IndexerInputs()
+
+    override fun periodic() {
+        io.updateInputs(inputs)
+        Logger.processInputs("Indexer", inputs)
+    }
+
+    fun progressBalloon(): Command =
+        startEnd(
+            {io.setSpinSpeed(0.5)}
+        )
+
+    fun outtakeBalloon(): Command =
+        startEnd(
+            {io.setSpinSpeed(-0.5)}
+        )
+
+    fun stopIndexerSpin(): Command = 
+        startEnd(
+            {io.setSpinSpeed(0.0)}
+        )
 }

src/main/java/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt

@@ -8,22 +8,22 @@ interface IndexerIO{
     class IndexerInputs : LoggableInputs {
         var indexerVelocity = Rotation2d()
         var indexerCurrent: Double = 0.0
-        var isSpinning: Boolean = false
+        var isSpinningBalloon: Boolean = false
         var hasBalloon: Boolean = false
         var balloonColor = null
 
         override fun toLog(table: LogTable?) {
             table?.put("Indexer Wheel Velocity", indexerVelocity)
             table?.put("Indexer Wheel Current", indexerCurrent)
-            table?.put("Is spinning", isSpinning)
+            table?.put("Is spinning", isSpinningBalloon)
             table?.put("Has balloon", hasBalloon)
             table?.put("Balloon Color", balloonColor)
         }
 
         override fun fromLog(table: LogTable) {
             indexerVelocity = table.get("Indexer Velocity", indexerVelocity)!![0]
             indexerCurrent = table.get("Indexer Wheel Current", indexerCurrent)
-            isSpinning = table.get("Is spinning", isSpinning)
+            isSpinningBalloon = table.get("Is spinning", isSpinningBalloon)
             hasBalloon = table.get("Has balloon", hasBalloon)
             balloonColor = table.get("Balloon Color", balloonColor)
         }
@@ -46,7 +46,7 @@ class IndexerIOReal: IndexerIO{
     override fun updateInputs(inputs: IndexerIO.IndexerInputs) {
         inputs.indexerVelocity = Rotation2d(indexerWheel.encoder.velocity)
         inputs.indexerCurrent = indexerWheel.outputCurrent
-        inputs.isSpinning = indexerWheel.
+        inputs.isSpinningBalloon = colorSensor.get()
         inputs.hasBalloon = colorSensor.get()
         inputs.balloonColor = colorSensor.get()
     }