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Alerts #69

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82e56b2
added status code checks to motor control methods
cycIes Dec 13, 2024
afc957a
moved status code checks into one method
cycIes Dec 13, 2024
c7a3113
check if the motor is licensed when motor is caleld
cycIes Dec 21, 2024
58a9f80
Merge branch 'main' into alerts
cycIes Mar 12, 2025
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53 changes: 40 additions & 13 deletions src/main/java/frc/spectrumLib/mechanism/Mechanism.java
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@
import frc.spectrumLib.util.CanDeviceId;
import frc.spectrumLib.util.Conversions;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;

import lombok.*;

/**
Expand All @@ -48,6 +50,9 @@ public abstract class Mechanism implements NTSendable, SpectrumSubsystem {
public Config config;

Alert currentAlert = new Alert("", AlertType.kWarning);
Alert disconnectedAlert =
new Alert(getName() + " motor " + config.getId() + " disconnected", AlertType.kWarning);
Alert unlicensedAlert = new Alert(getName() + " motor " + config.getId() + " unlicensed", AlertType.kWarning);
private double target = 0;

private final CachedDouble cachedRotations;
Expand Down Expand Up @@ -468,15 +473,35 @@ protected void tareMotor() {
}
}

protected void checkMotorOK(Supplier<StatusCode> motorRequest) {
if (motorRequest.get().isOK()) {
disconnectedAlert.set(false);
unlicensedAlert.set(false);
return;
}

if (motorRequest.get().isOK()) {
return;
}

disconnectedAlert.set(true);

if (motorRequest.get().value == StatusCode.UnlicensedDevice.value) {
unlicensedAlert.set(true);
}
}

/**
* Sets the mechanism position of the motor
*
* @param rotations rotations
*/
protected void setMotorPosition(DoubleSupplier rotations) {
if (isAttached()) {
motor.setPosition(rotations.getAsDouble());
if (!isAttached()) {
disconnectedAlert.set(false);
return;
}
checkMotorOK(() -> motor.setPosition(rotations.getAsDouble()));
}

/**
Expand All @@ -487,8 +512,10 @@ protected void setMotorPosition(DoubleSupplier rotations) {
protected void setMMVelocityFOC(DoubleSupplier velocityRPS) {
if (isAttached()) {
target = velocityRPS.getAsDouble();
MotionMagicVelocityTorqueCurrentFOC mm = config.mmVelocityFOC.withVelocity(target);
motor.setControl(mm);
MotionMagicVelocityTorqueCurrentFOC mm =
config.mmVelocityFOC.withVelocity(target);

checkMotorOK(() -> motor.setControl(mm));
}
}

Expand All @@ -501,7 +528,7 @@ protected void setVelocityTorqueCurrentFOC(DoubleSupplier velocityRPS) {
if (isAttached()) {
target = velocityRPS.getAsDouble();
VelocityTorqueCurrentFOC output = config.velocityTorqueCurrentFOC.withVelocity(target);
motor.setControl(output);
checkMotorOK(() -> motor.setControl(output));
}
}

Expand All @@ -514,7 +541,7 @@ protected void setVelocityTCFOCrpm(DoubleSupplier velocityRPS) {
if (isAttached()) {
target = Conversions.RPMtoRPS(velocityRPS.getAsDouble());
VelocityTorqueCurrentFOC output = config.velocityTorqueCurrentFOC.withVelocity(target);
motor.setControl(output);
checkMotorOK(() -> motor.setControl(output));
}
}

Expand All @@ -527,7 +554,7 @@ protected void setVelocity(DoubleSupplier velocityRPS) {
if (isAttached()) {
target = velocityRPS.getAsDouble();
VelocityVoltage output = config.velocityControl.withVelocity(target);
motor.setControl(output);
checkMotorOK(() -> motor.setControl(output));
}
}

Expand All @@ -540,7 +567,7 @@ protected void setMMPositionFoc(DoubleSupplier rotations) {
if (isAttached()) {
target = rotations.getAsDouble();
MotionMagicTorqueCurrentFOC mm = config.mmPositionFOC.withPosition(target);
motor.setControl(mm);
checkMotorOK(() -> motor.setControl(mm));
}
}

Expand All @@ -566,7 +593,7 @@ protected void setDynMMPositionFoc(
.withVelocity(velocity.getAsDouble())
.withAcceleration(acceleration.getAsDouble())
.withJerk(jerk.getAsDouble());
motor.setControl(mm);
checkMotorOK(() -> motor.setControl(mm));
}
}

Expand All @@ -590,7 +617,7 @@ public void setMMPosition(DoubleSupplier rotations, int slot) {
target = rotations.getAsDouble();
MotionMagicVoltage mm =
config.mmPositionVoltageSlot.withSlot(slot).withPosition(target);
motor.setControl(mm);
checkMotorOK(() -> motor.setControl(mm));
}
}

Expand All @@ -604,21 +631,21 @@ public void setPercentOutput(DoubleSupplier percent) {
VoltageOut output =
config.voltageControl.withOutput(
config.voltageCompSaturation * percent.getAsDouble());
motor.setControl(output);
checkMotorOK(() -> motor.setControl(output));
}
}

public void setVoltageOutput(DoubleSupplier voltage) {
if (isAttached()) {
VoltageOut output = config.voltageControl.withOutput(voltage.getAsDouble());
motor.setControl(output);
checkMotorOK(() -> motor.setControl(output));
}
}

public void setTorqueCurrentFoc(DoubleSupplier current) {
if (isAttached()) {
TorqueCurrentFOC output = config.torqueCurrentFOC.withOutput(current.getAsDouble());
motor.setControl(output);
checkMotorOK(() -> motor.setControl(output));
}
}

Expand Down