[WIP] new bound state objects

[tomlazar]

No description provided.

[aaron97neu]

LGTM, want to see testing. Add examples of how it would be used. Like the idea of starting a 'lib2202' submodule/maven dependency/folder we copy every year

[dlaufen]

Needs examples for simple data types: double/int/string.
How do we deal with a collection of values for a given sub-system or command's use.
Sub-system Input vs monitor only?

[dlaufen]

Rather than extending SubsystemBase could it be handled through an implements instead? Also see if you can make it take a type template Apply , should reduce the code and work for anything that has Supplier

[tomlazar]

@dlaufen I only added the NtInput in the first one as a demo.

I added a demo to the example going forward, the subsystem I wrote doesn't need to be used when writing new ones, that subsystem takes care of updating the values. So like in the demo.

    class State {

        @NtInput(name = "set")
        public double SetPoint = 0;

        @NtOutput(name = "err")
        public double Error = 0;
        
        // @NtInput()
    }

    State left = NtBind.getInstance().bind(new State(), "left", this::onChanged);
    State right = NtBind.getInstance().bind(new State(), "right", this::onChanged);

    void onChanged() {
        System.out.println("SetPoint: " + left.SetPoint + ", err: " + left.Error);
        System.out.println("SetPoint: " + right.SetPoint + ", err: " + right.Error);
    }

using the static instance of NtBind you can name and attach as many versions of a state object as you want.

[aaron97neu]

Code should be well commented
Add some API documentation in English showing what each method does, and what each argument for each method should be, and some full examples

Something like this

<TStateObject> TStateObject bind(TStateObject state, String name, Runnable onChange)
Binds object provided as state to the network table under label name. OnChange determines when it updates. Returns a thing that should be used for this

// We have a shooter and we want to output the flywheel error (variable name `f_speed`) to the network table 
//  and read the allowed flywheel tolerance (`f_tolerance`) from the network table. We also output the name 
//  of the flywheel (`f_name`) because we need a string example. The code would look something like this:


// TODO: Whatever sets up the nt thing with the name of the table and stuff
String f_name = "Red Flywheel"
double f_speed = 0;
int f_tolerance = 0;
State s = nt.bind(f_name, "Flywheel Name", State::Write); // ???
s = nt.bind(f_speed, "Flywheel Speed",  State::Write); // ???
s = nt.bind(f_tolerance, "Flywheel Tolance", State::Read); // ???

void Periodic(){
  f_speed = encoder.getSpeed();
}