finished mostly

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -0,0 +1,25 @@
+package frc.robot.subsystems.indexer;
+
+public class Indexer extends SubsystemBase {
+    private IndexerIOInputs io
+    private IndexerIOInputsAutoLogged inputs = new IndexerIOInputsAutoLogged();
+
+    public Indexer(IndexerIOInputs io) {
+        this.io = io;
+    }
+
+    public setIndexerSpeed(double speed) {
+        io.setSpeed(speed);
+        Logger.recordOutput("Indexer", speed);
+    }
+
+    public stop() {
+        io.stop();
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(inputs);
+        Logger.processInputs("Indexer", inputs);
+    }
+}

src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java

@@ -0,0 +1,3 @@
+package frc.robot.subsystems.indexer;
+
+public final class IndexerConstants {}

src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java

@@ -0,0 +1,28 @@
+package frc.robot.subsystems.indexer;
+
+public class IndexerIOSim implements IndexerIO {
+    private final DCMotorSim indexerSim = new DCMotor(null, 0, 0);
+
+    private double indexerAppliedVolts = 0.0;
+
+    public IndexerIO() {
+        indexerSim.update(0.02);
+
+        inputs.isConnected = true;
+
+        inputs.indexerVelocity = intakeSim.getVelocityRadPerSec() / (Math.PI * 2); 
+        inputs.indexerStatorCurrentAmps = intakeSim.getCurrentDrawAmps();
+        inputs.indexerAppliedVolts = intakeAppliedVolts;
+    }
+
+    @Override 
+    public void setIndexerSpeed(double speed) {
+        indexerSim.setInputVoltage(speed);
+    }
+
+    @Override 
+    public void stop() {
+        indexerSim.setInputVoltage(0);
+    }
+
+}

src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -0,0 +1,3 @@
+package frc.robot.subsystems.intake;
+
+public final class IntakeConstants {}

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

@@ -7,4 +7,47 @@
 public class IntakeIOSim {
     DCMotorSim intakeSim = new DCMotorSim(null, 0, 0);
     SingleJointedArmSim pivotSim = new SingleJointedArmSim(DCMotor.getFalcon500(2), 0, 0, 0, 0, 0, false, 0);
+  private final Constraints pivotConstraints = new Constraints(0, 0);
+  private final ProfiledPIDController pivotController =
+      new ProfiledPIDController(0, 0, 0, pivotConstraints);
+
+      private final SimpleMotorFeedforward pivotFF = new SimpleMotorFeedforward(0, 0, 0);
+
+    private double intakeAppliedVolts = 0.0;
+    private double pivotAppliedVolts = 0.0;
+
+
+    public IntakeIOSim() {
+        intakeSim.update(0.02);
+        pivotSim.update(0.02);
+
+        inputs.intakeVelocity = intakeSim.getVelocityRadPerSec() / (Math.PI * 2); 
+        inputs.intakeCurrentAmps = intakeSim.getCurrentDrawAmps();
+        inputs.intakeAppliedVolts = intakeAppliedVolts;
+
+        inputs.pivotPosition = pivotSim.getAngleRads() / (Math.PI * 2);
+        inputs.pivotVelocity = pivotSim.getVelocityRadPerSec() / (Math.PI * 2);
+        inputs.pivotAppliedVolts = pivotAppliedVolts;
+        inputs.pivotCurrentAmps = pivotSime.getCurrentDrawAmps();
+    }
+
+    @Override 
+    public void setPivotPosition(double position) {
+        pivotSim.setInputVoltage(pivotController.calculate(position, pivotSim.getAngleRads() / (Math.PI * 2)) + pivotFF.calculate(pivotContoller.getSetpoint().velocity))
+    }
+
+    @Override
+    public void setIntakeSpeed(double speed) {
+        intakeSim.setInputVoltage(speed);
+    }
+
+    @Override 
+    public double getIntakeSpeed() {
+        return intakeSim.getVelocityRadPerSec() / (Math.PI * 2)
+    }
+
+    @Override
+    public double getPivotPosition() {
+        return pivotSim.getAngleRads() / (Math.PI * 2);
+    }
 }

src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java

@@ -40,7 +40,7 @@ public void updateInputs(PivotIOInputs inputs) {
     inputs.leaderPosition = (pivotSim.getAngleRads() / Math.PI * 2); // Rotations
     inputs.leaderVelocity = (pivotSim.getVelocityRadPerSec() / Math.PI * 2); // Rotations/Sec
     inputs.leaderAppliedVolts = leaderAppliedVolts;
-    ;
+
     inputs.leaderSupplyCurrentAmps = pivotSim.getCurrentDrawAmps();
 
     inputs.followerPosition = (pivotSim.getAngleRads() / Math.PI * 2); // Rotations