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Add temperature logging #103

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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/subsystems/hopper/HopperIO.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package frc.robot.subsystems.hopper;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Celsius;
import static edu.wpi.first.units.Units.DegreesPerSecond;
import static edu.wpi.first.units.Units.DegreesPerSecondPerSecond;
import static edu.wpi.first.units.Units.Volts;
Expand All @@ -9,6 +10,7 @@
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Temperature;
import edu.wpi.first.units.measure.Voltage;

public interface HopperIO {
Expand All @@ -19,12 +21,14 @@ public static class HopperIOInputs {
public AngularAcceleration feederAcceleration = DegreesPerSecondPerSecond.of(0) ;
public Voltage feederVoltage = Volts.of(0.0);
public Current feederCurrent = Amps.of(0.0);
public Temperature feederTemp = Celsius.zero();

public boolean scramblerConnected = false;
public AngularVelocity scramblerVelocity = DegreesPerSecond.of(0);
public AngularAcceleration scramblerAcceleration = DegreesPerSecondPerSecond.of(0) ;
public Voltage scramblerVoltage = Volts.of(0.0);
public Current scramblerCurrent = Amps.of(0.0);
public Temperature scramblerTemp = Celsius.zero();
}
public default void updateInputs(HopperIOInputs inputs) {}

Expand Down
29 changes: 23 additions & 6 deletions src/main/java/frc/robot/subsystems/hopper/HopperIOTalonFX.java
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Expand Up @@ -20,6 +20,7 @@
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Temperature;
import edu.wpi.first.units.measure.Voltage;

public class HopperIOTalonFX implements HopperIO {
Expand All @@ -40,13 +41,15 @@ public class HopperIOTalonFX implements HopperIO {
private final StatusSignal<AngularVelocity> feederAngularVelocitySignal;
private final StatusSignal<AngularAcceleration> feederAngularAccelerationSignal ;
private final StatusSignal<Voltage> feederVoltageSignal;
private final StatusSignal<Current> feederCurrentSignal;
private final StatusSignal<Current> feederCurrentSignal;
private final StatusSignal<Temperature> feederTemp;

//Scrambler Status Signals
private final StatusSignal<AngularVelocity> scramblerAngularVelocitySignal;
private final StatusSignal<AngularAcceleration> scramblerAngularAccelerationSignal ;
private final StatusSignal<Voltage> scramblerVoltageSignal;
private final StatusSignal<Current> scramblerCurrentSignal;
private final StatusSignal<Temperature> scramblerTemp;

private final Debouncer feederConnectedDebounce = new Debouncer(0.5, DebounceType.kFalling);
private final Debouncer scramblerConnectedDebounce = new Debouncer(0.5, DebounceType.kFalling);
Expand Down Expand Up @@ -75,7 +78,8 @@ public HopperIOTalonFX(CANBus canBus) {
feederAngularVelocitySignal = feederMotor.getVelocity();
feederAngularAccelerationSignal = feederMotor.getAcceleration() ;
feederVoltageSignal = feederMotor.getMotorVoltage();
feederCurrentSignal = feederMotor.getSupplyCurrent();
feederCurrentSignal = feederMotor.getSupplyCurrent();
feederTemp = feederMotor.getDeviceTemp();

// Scrambler Motor Configuration
scramblerMotor = new TalonFX(HopperConstants.scramblerMotorCANID);
Expand All @@ -96,37 +100,50 @@ public HopperIOTalonFX(CANBus canBus) {
scramblerAngularAccelerationSignal = scramblerMotor.getAcceleration() ;
scramblerVoltageSignal = scramblerMotor.getMotorVoltage();
scramblerCurrentSignal = scramblerMotor.getSupplyCurrent();
scramblerTemp = scramblerMotor.getDeviceTemp();

BaseStatusSignal.setUpdateFrequencyForAll(50.0,
feederAngularVelocitySignal, feederVoltageSignal, feederCurrentSignal, feederAngularAccelerationSignal);
feederAngularVelocitySignal, feederVoltageSignal, feederCurrentSignal, feederAngularAccelerationSignal, feederTemp);

feederMotor.optimizeBusUtilization();

BaseStatusSignal.setUpdateFrequencyForAll(50.0,
scramblerAngularVelocitySignal, scramblerVoltageSignal, scramblerCurrentSignal, scramblerAngularAccelerationSignal);
scramblerAngularVelocitySignal, scramblerVoltageSignal, scramblerCurrentSignal, scramblerAngularAccelerationSignal, scramblerTemp);

scramblerMotor.optimizeBusUtilization();
}

@Override
public void updateInputs(HopperIOInputs inputs) {
StatusCode feederStatus = BaseStatusSignal.refreshAll(
feederAngularVelocitySignal, feederVoltageSignal, feederCurrentSignal);
feederAngularVelocitySignal,
feederAngularAccelerationSignal,
feederVoltageSignal,
feederCurrentSignal,
feederTemp
);

StatusCode scramblerStatus = BaseStatusSignal.refreshAll(
scramblerAngularVelocitySignal, scramblerVoltageSignal, scramblerCurrentSignal);
scramblerAngularVelocitySignal,
scramblerAngularAccelerationSignal,
scramblerVoltageSignal,
scramblerCurrentSignal,
scramblerTemp
);

inputs.feederConnected = feederConnectedDebounce.calculate(feederStatus.isOK());
inputs.feederVelocity = feederAngularVelocitySignal.getValue();
inputs.feederAcceleration = feederAngularAccelerationSignal.getValue() ;
inputs.feederVoltage = feederVoltageSignal.getValue();
inputs.feederCurrent = feederCurrentSignal.getValue();
inputs.feederTemp = feederTemp.getValue();

inputs.scramblerConnected = scramblerConnectedDebounce.calculate(scramblerStatus.isOK());
inputs.scramblerVelocity = scramblerAngularVelocitySignal.getValue();
inputs.scramblerAcceleration = scramblerAngularAccelerationSignal.getValue() ;
inputs.scramblerVoltage = scramblerVoltageSignal.getValue();
inputs.scramblerCurrent = scramblerCurrentSignal.getValue();
inputs.scramblerTemp = scramblerTemp.getValue();
}

@Override
Expand Down
5 changes: 5 additions & 0 deletions src/main/java/frc/robot/subsystems/intake/IntakeIO.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,13 @@
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Temperature;

import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.DegreesPerSecond;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Celsius;

import org.littletonrobotics.junction.AutoLog;

Expand All @@ -22,11 +25,13 @@ public class IntakeIOInputs{
public AngularVelocity pivotCancoderVelocity = DegreesPerSecond.of(0);
public Voltage pivotAppliedVolts = Volts.of(0);
public Current pivotCurrentAmps = Amps.of(0);
public Temperature pivotTemp = Celsius.zero();

public boolean rollerConnected = false;
public AngularVelocity rollerAngularVelocity = DegreesPerSecond.of(0);
public Voltage rollerAppliedVolts = Volts.of(0);
public Current rollerCurrentAmps = Amps.of(0);
public Temperature rollerTemp = Celsius.zero();
}

public default void updateInputs(IntakeIOInputsAutoLogged inputs) {}
Expand Down
13 changes: 11 additions & 2 deletions src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Temperature;
import edu.wpi.first.units.measure.Voltage;


Expand Down Expand Up @@ -59,13 +60,15 @@ public class IntakeIOTalonFX implements IntakeIO {
private StatusSignal<AngularVelocity> pivotAngularVelocitySignal;
private StatusSignal<Current> pivotCurrentAmpsSignal;
private StatusSignal<Voltage> pivotAppliedVoltsSignal;
private StatusSignal<Temperature> pivotTemp;
private StatusSignal<Angle> pivotCancoderPositionSignal;
private StatusSignal<AngularVelocity> pivotCancoderVelocitySignal;

//Roller status signals
private StatusSignal<AngularVelocity> rollerAngularVelocitySignal;
private StatusSignal<Voltage> rollerAppliedVoltsSignal;
private StatusSignal<Current> rollerCurrentAmpsSignal;
private StatusSignal<Temperature> rollerTemp;

public IntakeIOTalonFX(CANBus canbus) {
// Initialize motor objects
Expand Down Expand Up @@ -157,6 +160,8 @@ public IntakeIOTalonFX(CANBus canbus) {
pivotAppliedVoltsSignal = pivotMotor.getMotorVoltage();
rollerCurrentAmpsSignal = rollerMotor.getSupplyCurrent();
pivotCurrentAmpsSignal = pivotMotor.getSupplyCurrent();
pivotTemp = pivotMotor.getDeviceTemp();
rollerTemp = rollerMotor.getDeviceTemp();
pivotCancoderPositionSignal = pivotCancoder.getPosition();
pivotCancoderVelocitySignal = pivotCancoder.getVelocity();

Expand All @@ -177,27 +182,31 @@ public void updateInputs(IntakeIOInputsAutoLogged inputs) {
pivotAppliedVoltsSignal,
pivotCurrentAmpsSignal,
pivotCancoderPositionSignal,
pivotCancoderVelocitySignal
pivotCancoderVelocitySignal,
pivotTemp
);

var rollerStatus = BaseStatusSignal.refreshAll(
rollerAngularVelocitySignal,
rollerAppliedVoltsSignal,
rollerCurrentAmpsSignal
rollerCurrentAmpsSignal,
rollerTemp
);

inputs.pivotConnected = pivotConnectedDebounce.calculate(pivotStatus.isOK());
inputs.pivotAngle = pivotAngleSignal.getValue() ;
inputs.pivotAngularVelocity = pivotAngularVelocitySignal.getValue();
inputs.pivotAppliedVolts = pivotAppliedVoltsSignal.getValue();
inputs.pivotCurrentAmps = pivotCurrentAmpsSignal.getValue();
inputs.pivotTemp = pivotTemp.getValue();
inputs.pivotCancoderPosition = pivotCancoderPositionSignal.getValue();
inputs.pivotCancoderVelocity = pivotCancoderVelocitySignal.getValue();

inputs.rollerConnected = rollerConnectedDebounce.calculate(rollerStatus.isOK());
inputs.rollerAngularVelocity = rollerAngularVelocitySignal.getValue();
inputs.rollerAppliedVolts = rollerAppliedVoltsSignal.getValue();
inputs.rollerCurrentAmps = rollerCurrentAmpsSignal.getValue();
inputs.rollerTemp = rollerTemp.getValue();
}

@Override
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
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Original file line number Diff line number Diff line change
@@ -1,13 +1,15 @@
package frc.robot.subsystems.shooter;

import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Celsius;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Volts;

import org.littletonrobotics.junction.AutoLog;

import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Temperature;
import edu.wpi.first.units.measure.Voltage;

public interface ShooterIO {
Expand All @@ -18,6 +20,7 @@ public static class ShooterIOInputs {
public Voltage shooter1Voltage = Volts.zero();
public Current shooter1Current = Amps.zero();
public AngularVelocity shooter1Velocity = RadiansPerSecond.zero();
public Temperature shooter1Temp = Celsius.zero();
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@themehdev themehdev Apr 2, 2026

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Shooter2Temp and Shooter3Temp are never set in here, causing the build to fail.


public Voltage shooter2Voltage = Volts.zero();
public Current shooter2Current = Amps.zero();
Expand Down
16 changes: 15 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/ShooterIOTalonFX.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@

import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Temperature;
import edu.wpi.first.units.measure.Voltage;

public class ShooterIOTalonFX implements ShooterIO {
Expand All @@ -31,14 +32,17 @@ public class ShooterIOTalonFX implements ShooterIO {
private StatusSignal<AngularVelocity> shooter1AngularVelocity;
private StatusSignal<Voltage> shooter1AppliedVolts;
private StatusSignal<Current> shooter1CurrentAmps;
private StatusSignal<Temperature> shooter1Temp;

private StatusSignal<AngularVelocity> shooter2AngularVelocity;
private StatusSignal<Voltage> shooter2AppliedVolts;
private StatusSignal<Current> shooter2CurrentAmps;
private StatusSignal<Temperature> shooter2Temp;

private StatusSignal<AngularVelocity> shooter3AngularVelocity;
private StatusSignal<Voltage> shooter3AppliedVolts;
private StatusSignal<Current> shooter3CurrentAmps;
private StatusSignal<Temperature> shooter3Temp;

public ShooterIOTalonFX(CANBus shooterCANBus) {

Expand Down Expand Up @@ -80,24 +84,30 @@ public ShooterIOTalonFX(CANBus shooterCANBus) {
shooter1AngularVelocity = shooter1Motor.getVelocity();
shooter1AppliedVolts = shooter1Motor.getMotorVoltage();
shooter1CurrentAmps = shooter1Motor.getSupplyCurrent();
shooter1Temp = shooter1Motor.getDeviceTemp();
shooter2AngularVelocity = shooter2Motor.getVelocity();
shooter2AppliedVolts = shooter2Motor.getMotorVoltage();
shooter2CurrentAmps = shooter2Motor.getSupplyCurrent();
shooter2Temp = shooter2Motor.getDeviceTemp();
shooter3AngularVelocity = shooter3Motor.getVelocity();
shooter3AppliedVolts = shooter3Motor.getMotorVoltage();
shooter3CurrentAmps = shooter3Motor.getSupplyCurrent();
shooter3Temp = shooter3Motor.getDeviceTemp();

// Status Signal Collection, less repetitive code
signals = new StatusSignalCollection(
shooter1AngularVelocity,
shooter1AppliedVolts,
shooter1CurrentAmps,
shooter1Temp,
shooter2AngularVelocity,
shooter2AppliedVolts,
shooter2CurrentAmps,
shooter2Temp,
shooter3AngularVelocity,
shooter3AppliedVolts,
shooter3CurrentAmps
shooter3CurrentAmps,
shooter3Temp
);

tryUntilOk(5, () -> signals.setUpdateFrequencyForAll(50.0));
Expand All @@ -123,6 +133,10 @@ public void updateInputs(ShooterIOInputs inputs) {
inputs.shooter2Current = shooter2CurrentAmps.getValue();
inputs.shooter3Current = shooter3CurrentAmps.getValue();

inputs.shooter1Temp = shooter1Temp.getValue();
inputs.shooter2Temp = shooter2Temp.getValue();
inputs.shooter3Temp = shooter3Temp.getValue();

inputs.wheelVelocity = inputs.shooter1Velocity.times(ShooterConstants.gearRatio);
}

Expand Down
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