From aead1c165a26a70b81ce74afad41d0963bd3b4f4 Mon Sep 17 00:00:00 2001
From: Shatcar <mail@astatin3.dev>
Date: Sat, 28 Mar 2026 10:21:34 -0600
Subject: [PATCH] Add fault reporting for SparkMax

---
 src/main/java/frc4388/robot/RobotMap.java     |  5 +-
 .../frc4388/utility/status/FaultSparkMax.java | 97 +++++++++++++++++++
 2 files changed, 100 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc4388/utility/status/FaultSparkMax.java

diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index a9f19e9..eba05db 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -37,6 +37,7 @@ import frc4388.robot.subsystems.vision.VisionReal;
 import frc4388.utility.status.FaultCANCoder;
 import frc4388.utility.status.FaultPhotonCamera;
 import frc4388.utility.status.FaultPidgeon2;
+import frc4388.utility.status.FaultSparkMax;
 import frc4388.utility.status.FaultTalonFX;
 
 /**
@@ -118,8 +119,8 @@ public class RobotMap {
                 FaultTalonFX.addDevice(shooter1, "Shooter1");
                 FaultTalonFX.addDevice(shooter2, "Shooter2");
                 FaultTalonFX.addDevice(indexer, "Indexer");
-                // FaultTalonFX.addDevice(arm, "Arm");
-                // FaultTalonFX.addDevice(roller, "Roller");
+                FaultSparkMax.addDevice(arm, "Arm");
+                FaultSparkMax.addDevice(roller, "Roller");
                 
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
diff --git a/src/main/java/frc4388/utility/status/FaultSparkMax.java b/src/main/java/frc4388/utility/status/FaultSparkMax.java
new file mode 100644
index 0000000..f9035a9
--- /dev/null
+++ b/src/main/java/frc4388/utility/status/FaultSparkMax.java
@@ -0,0 +1,97 @@
+package frc4388.utility.status;
+
+import com.revrobotics.spark.SparkBase.Faults;
+import com.revrobotics.spark.SparkBase.Warnings;
+import com.revrobotics.spark.SparkMax;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultSparkMax implements Queryable {
+    private String name;
+    private SparkMax motor;
+
+    public static void addDevice(SparkMax motor, String name) {
+        FaultSparkMax p = new FaultSparkMax();
+
+        p.name = name;
+        p.motor = motor;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        s.addReport(ReportLevel.INFO, "Firmware Version: " + motor.getFirmwareString());
+        s.addReport(ReportLevel.INFO, "Voltage: " + motor.getBusVoltage());
+        s.addReport(ReportLevel.INFO, "Current: " + motor.getOutputCurrent());
+        s.addReport(ReportLevel.INFO, "Device temp (C): " + motor.getMotorTemperature());
+        s.addReport(ReportLevel.INFO, "Position: " + motor.getEncoder().getPosition());
+        s.addReport(ReportLevel.INFO, "Velocity: " + motor.getEncoder().getVelocity());
+        s.addReport(ReportLevel.INFO, "Forward hard limit: " + motor.getForwardLimitSwitch().isPressed());
+        s.addReport(ReportLevel.INFO, "Reverse hard limit: " + motor.getReverseLimitSwitch().isPressed());
+        s.addReport(ReportLevel.INFO, "Forward soft limit: " + motor.getForwardSoftLimit().isReached());
+        s.addReport(ReportLevel.INFO, "Reverse soft limit: " + motor.getReverseSoftLimit().isReached());
+
+        // faults
+        Faults faults = motor.getFaults();
+        if(faults.can) {
+            s.addReport(ReportLevel.ERROR, "CAN Fault (Joe Johnson)");
+        }
+        if(faults.escEeprom) {
+            s.addReport(ReportLevel.ERROR, "Escape Eeprom. Cannot write to internal memory (oh god I don't want to think about what this means)");
+        }
+        if(faults.firmware) {
+            s.addReport(ReportLevel.ERROR, "Firmware Fault");
+        }
+        if(faults.gateDriver) {
+            s.addReport(ReportLevel.ERROR, "Gate Driver Fault");
+        }
+        if(faults.motorType) {
+            s.addReport(ReportLevel.ERROR, "Motor type Fault");
+        }
+        if(faults.other) {
+            s.addReport(ReportLevel.ERROR, "Fault type is 'other'. Hope for the best!");
+        }
+        if(faults.sensor) {
+            s.addReport(ReportLevel.ERROR, "Sensor fault");
+        }
+        if(faults.temperature) {
+            s.addReport(ReportLevel.ERROR, "Tempreture fault");
+        }
+
+        Warnings warnings = motor.getWarnings();
+        if(warnings.brownout) {
+            s.addReport(ReportLevel.WARNING, "Brownout detected");
+        }
+        if (warnings.escEeprom) {
+            s.addReport(ReportLevel.WARNING, "Escape Eeprom. Cannot write to internal memory. (Why is only a warning)");
+        }
+        if (warnings.extEeprom) {
+            s.addReport(ReportLevel.WARNING, "Exit Eeprom. Cannot write to internal memory. (Why is only a warning)");
+        }
+        if (warnings.hasReset) {
+            s.addReport(ReportLevel.WARNING, "Has Reset");
+        }
+        if (warnings.other) {
+            s.addReport(ReportLevel.WARNING, "Other. Warning message sold seperately");
+        }
+        if (warnings.overcurrent) {
+            s.addReport(ReportLevel.WARNING, "Overcurrent");
+        }
+        if (warnings.sensor) {
+            s.addReport(ReportLevel.WARNING, "Sensor problem");
+        }
+        if (warnings.stall) {
+            s.addReport(ReportLevel.WARNING, "Motor stall detected");
+        }
+
+        return s;
+    }
+}