motor current and temperature alerts

src/main/kotlin/com/team4099/robot2023/config/constants/DrivetrainConstants.kt

@@ -4,6 +4,7 @@ import edu.wpi.first.wpilibj.RobotBase
 import org.team4099.lib.units.Velocity
 import org.team4099.lib.units.base.Meter
 import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.feet
 import org.team4099.lib.units.base.grams
 import org.team4099.lib.units.base.inMeters
@@ -77,6 +78,9 @@ object DrivetrainConstants {
   val DRIVE_STATOR_THRESHOLD_CURRENT_LIMIT = 80.0.amps
   val DRIVE_STATOR_TRIGGER_THRESHOLD_TIME = 1.0.seconds
 
+  val STEERING_TEMP_ALERT = 80.celsius
+  val DRIVE_TEMP_ALERT = 80.celsius
+
   val FRONT_LEFT_MODULE_ZERO = 1.33.radians
   val FRONT_RIGHT_MODULE_ZERO = 4.51.radians
   val BACK_LEFT_MODULE_ZERO = 3.20.radians

src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt

@@ -7,6 +7,7 @@ import com.team4099.robot2023.config.constants.FieldConstants.Grids.midCubeZ
 import com.team4099.robot2023.config.constants.FieldConstants.LoadingZone.doubleSubstationShelfZ
 import org.team4099.lib.units.base.Length
 import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
 import org.team4099.lib.units.base.percent
@@ -59,6 +60,8 @@ object ElevatorConstants {
   val VOLTAGE_COMPENSATION = 12.volts
   val PHASE_CURRENT_LIMIT = 80.amps // TODO tune stator current limit
 
+  val ELEVATOR_TEMP_ALERT = 80.celsius
+
   // TODO figure out what these should be
   val HOMING_POSITION_THRESHOLD = 30.inches
   val HOMING_APPLIED_VOLTAGE = -1.volts

src/main/kotlin/com/team4099/robot2023/config/constants/GroundIntakeConstants.kt

@@ -1,6 +1,7 @@
 package com.team4099.robot2023.config.constants
 
 import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.grams
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
@@ -40,6 +41,9 @@ object GroundIntakeConstants {
   val ROLLER_CURRENT_LIMIT = 30.amps // TODO TUNE
   val ARM_CURRENT_LIMIT = 50.amps // TODO TUNE
 
+  val ROLLER_TEMP_ALERT = 80.celsius
+  val ARM_TEMP_ALERT = 80.celsius
+
   const val ROLLER_MOTOR_INVERTED = true
   const val ARM_MOTOR_INVERTED = false
 

src/main/kotlin/com/team4099/robot2023/config/constants/ManipulatorConstants.kt

@@ -2,6 +2,7 @@ package com.team4099.robot2023.config.constants
 
 import org.team4099.lib.units.base.Length
 import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.grams
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
@@ -52,6 +53,9 @@ object ManipulatorConstants {
   val ARM_STATOR_CURRENT_LIMIT = 20.amps
   val ROLLER_STATOR_CURRENT_LIMIT = 40.amps
 
+  val ROLLER_TEMP_ALERT = 80.celsius
+  val ARM_TEMP_ALERT = 80.celsius
+
   val ARM_VOLTAGE_COMPENSATION = 12.volts
   val ROLLER_VOLTAGE_COMPENSATION = 12.volts
 

src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOFalcon.kt

@@ -7,6 +7,7 @@ import com.ctre.phoenix.motorcontrol.can.TalonFX
 import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.DrivetrainConstants
+import com.team4099.robot2023.util.Alert
 import edu.wpi.first.wpilibj.AnalogInput
 import edu.wpi.first.wpilibj.RobotController
 import org.littletonrobotics.junction.Logger
@@ -70,6 +71,18 @@ class SwerveModuleIOFalcon(
       }
     }
 
+  private val steeringCurrentLimitAlert =
+    Alert("$label steering motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val driveCurrentLimitAlert =
+    Alert("$label drive motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val steeringTempAlert =
+    Alert("$label steering motor surpassed temperature limit", Alert.AlertType.ERROR)
+
+  private val driveTempAlert =
+    Alert("$label drive motor surpassed temperature limit", Alert.AlertType.ERROR)
+
   init {
     driveFalcon.configFactoryDefault()
     steeringFalcon.configFactoryDefault()
@@ -163,6 +176,20 @@ class SwerveModuleIOFalcon(
     Logger.getInstance()
       .recordOutput("$label/sensorVelocityRawUnits", driveFalcon.selectedSensorVelocity)
     Logger.getInstance().recordOutput("$label/motorOutput", driveFalcon.motorOutputPercent)
+
+    driveCurrentLimitAlert.set(
+      driveFalcon.statorCurrent.amps > DrivetrainConstants.DRIVE_STATOR_CURRENT_LIMIT
+    )
+
+    steeringCurrentLimitAlert.set(
+      steeringFalcon.statorCurrent.amps > DrivetrainConstants.DRIVE_STATOR_CURRENT_LIMIT
+    )
+
+    driveTempAlert.set(driveFalcon.temperature.celsius > DrivetrainConstants.DRIVE_TEMP_ALERT)
+
+    steeringTempAlert.set(
+      steeringFalcon.temperature.celsius > DrivetrainConstants.STEERING_TEMP_ALERT
+    )
   }
 
   override fun setSteeringSetpoint(angle: Angle) {

src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIONeo.kt

@@ -6,6 +6,9 @@ import com.revrobotics.SparkMaxPIDController
 import com.team4099.lib.math.clamp
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.ElevatorConstants
+import com.team4099.robot2023.subsystems.motorchecker.MotorChecker
+import com.team4099.robot2023.subsystems.motorchecker.Neo
+import com.team4099.robot2023.util.Alert
 import org.team4099.lib.units.base.Length
 import org.team4099.lib.units.base.Meter
 import org.team4099.lib.units.base.amps
@@ -40,6 +43,18 @@ object ElevatorIONeo : ElevatorIO {
 
   private val leaderPIDController: SparkMaxPIDController = leaderSparkMax.pidController
 
+  private val leftCurrentLimitAlert =
+    Alert("Left Elevator motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val rightCurrentLimitAlert =
+    Alert("Right Elevator motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val leftTempAlert =
+    Alert("Left Elevator motor surpassed temperature limit", Alert.AlertType.ERROR)
+
+  private val rightTempAlert =
+    Alert("Right Elevator motor surpassed temperature limit", Alert.AlertType.ERROR)
+
   init {
 
     // reseting motor
@@ -71,6 +86,8 @@ object ElevatorIONeo : ElevatorIO {
 
     leaderSparkMax.burnFlash()
     followerSparkMax.burnFlash()
+
+    MotorChecker.add(Neo(leaderSparkMax))
   }
 
   override fun updateInputs(inputs: ElevatorIO.ElevatorInputs) {
@@ -100,6 +117,22 @@ object ElevatorIONeo : ElevatorIO {
     inputs.followerSupplyCurrent = inputs.followerStatorCurrent * followerSparkMax.appliedOutput
 
     inputs.followerTempCelcius = followerSparkMax.motorTemperature.celsius
+
+    leftCurrentLimitAlert.set(
+      followerSparkMax.outputCurrent.amps > ElevatorConstants.PHASE_CURRENT_LIMIT
+    )
+
+    rightCurrentLimitAlert.set(
+      leaderSparkMax.outputCurrent.amps > ElevatorConstants.PHASE_CURRENT_LIMIT
+    )
+
+    leftTempAlert.set(
+      followerSparkMax.motorTemperature.celsius > ElevatorConstants.ELEVATOR_TEMP_ALERT
+    )
+
+    rightTempAlert.set(
+      leaderSparkMax.motorTemperature.celsius > ElevatorConstants.ELEVATOR_TEMP_ALERT
+    )
   }
 
   /**

src/main/kotlin/com/team4099/robot2023/subsystems/groundintake/GroundIntakeIONeo.kt

@@ -6,6 +6,7 @@ import com.revrobotics.SparkMaxPIDController
 import com.team4099.lib.math.clamp
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.GroundIntakeConstants
+import com.team4099.robot2023.util.Alert
 import edu.wpi.first.wpilibj.DutyCycleEncoder
 import org.littletonrobotics.junction.Logger
 import org.team4099.lib.units.base.amps
@@ -80,6 +81,18 @@ object GroundIntakeIONeo : GroundIntakeIO {
         .degrees
     }
 
+  private val rollerCurrentLimitAlert =
+    Alert("Ground intake roller motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val armCurrentLimitAlert =
+    Alert("Ground arm motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val rollerTempAlert =
+    Alert("Ground intake roller motor surpassed temperature limit", Alert.AlertType.ERROR)
+
+  private val armTempAlert =
+    Alert("Ground arm motor surpassed temperature limit", Alert.AlertType.ERROR)
+
   init {
     rollerSparkMax.restoreFactoryDefaults()
     rollerSparkMax.clearFaults()
@@ -140,6 +153,20 @@ object GroundIntakeIONeo : GroundIntakeIO {
         armSparkMax.encoder.velocity *
           GroundIntakeConstants.ARM_OUTPUT_GEAR_RATIO.asDrivenOverDriving
       )
+
+    rollerCurrentLimitAlert.set(
+      rollerSparkMax.outputCurrent.amps > GroundIntakeConstants.ROLLER_CURRENT_LIMIT
+    )
+
+    armCurrentLimitAlert.set(
+      armSparkMax.outputCurrent.amps > GroundIntakeConstants.ARM_CURRENT_LIMIT
+    )
+
+    rollerTempAlert.set(
+      rollerSparkMax.motorTemperature.celsius > GroundIntakeConstants.ROLLER_TEMP_ALERT
+    )
+
+    armTempAlert.set(armSparkMax.motorTemperature.celsius > GroundIntakeConstants.ARM_TEMP_ALERT)
   }
 
   /**

src/main/kotlin/com/team4099/robot2023/subsystems/manipulator/ManipulatorIONeo.kt

@@ -6,6 +6,7 @@ import com.revrobotics.SparkMaxPIDController
 import com.team4099.lib.math.clamp
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.ManipulatorConstants
+import com.team4099.robot2023.util.Alert
 import org.team4099.lib.units.base.Length
 import org.team4099.lib.units.base.Meter
 import org.team4099.lib.units.base.amps
@@ -42,6 +43,18 @@ object ManipulatorIONeo : ManipulatorIO {
     )
   private val armPIDController: SparkMaxPIDController = armSparkMax.pidController
 
+  private val rollerCurrentLimitAlert =
+    Alert("Manipulator roller motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val armCurrentLimitAlert =
+    Alert("Manipulator extension motor surpassed current limit", Alert.AlertType.ERROR)
+
+  private val rollerTempAlert =
+    Alert("Manipulator roller motor surpassed temperature limit", Alert.AlertType.ERROR)
+
+  private val armTempAlert =
+    Alert("Manipulator extension motor surpassed temperature limit", Alert.AlertType.ERROR)
+
   init {
     // resetting the motors
     rollerSparkMax.restoreFactoryDefaults()
@@ -118,6 +131,20 @@ object ManipulatorIONeo : ManipulatorIO {
     // percentOutput * statorCurrent
     inputs.armSupplyCurrent = inputs.armStatorCurrent * armSparkMax.appliedOutput
     inputs.armTemp = armSparkMax.motorTemperature.celsius
+
+    rollerCurrentLimitAlert.set(
+      rollerSparkMax.outputCurrent.amps > ManipulatorConstants.ROLLER_STATOR_CURRENT_LIMIT
+    )
+
+    armCurrentLimitAlert.set(
+      armSparkMax.outputCurrent.amps > ManipulatorConstants.ARM_STATOR_CURRENT_LIMIT
+    )
+
+    rollerTempAlert.set(
+      rollerSparkMax.motorTemperature.celsius > ManipulatorConstants.ROLLER_TEMP_ALERT
+    )
+
+    armTempAlert.set(armSparkMax.motorTemperature.celsius > ManipulatorConstants.ARM_TEMP_ALERT)
   }
 
   /**