IntakeExtension cleanups - #100
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- Refactor `IntakeExtensionIOSim` to delegate to `IntakeExtensionIOReal` - To ensure the above change is safe, remove default implementations in `IntakeExtensionIO` - Created `IntakeExtensionIOStub` (for use in replay mode) - Create `Simulation` class - move `SIM_TIME_PERIOD` to this class - extract `getMotorSupplyVoltage()` and add it to `Simulation` - Refactor `IntakeExtensionConstants.toMotorSetpoint()` to `ExtenderPositions.getAngle()` - Merge tests in `IntakeExtensionTest` using `assertAll()`
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With these changes, the
IntakeExtensionIOSimexercises more of the "real"code.
IntakeExtensionIOSimto delegate toIntakeExtensionIORealIntakeExtensionIOIntakeExtensionIOStub(for use in replay mode)IntakeExtensionTestusingassertAll()