Auto Test

src/main/java/frc4388/utility/status/FaultA1M8.java

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+package frc4388.utility.status;
+
+import frc4388.robot.subsystems.RPLidarA1;
+import frc4388.robot.subsystems.RPLidarA1.ConnectionStatus;
+import frc4388.utility.status.Status.ReportLevel;
+
+// Fault reporter for the RPLidar A1M8 Revolving lidar sensor
+public class FaultA1M8 implements Queryable {
+    private String name;
+    private RPLidarA1 cam;
+
+    public static void addDevice(RPLidarA1 cam, String name) {
+        FaultA1M8 p = new FaultA1M8();
+
+        p.name = name;
+        p.cam = cam;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        ConnectionStatus cam_ConnectionStatus = cam.getStatus();
+
+        if(cam_ConnectionStatus != ConnectionStatus.RECEIVING_DATA)
+            s.addReport(ReportLevel.ERROR, "Not Connected! Status = " + cam_ConnectionStatus);
+
+        s.addReport(ReportLevel.INFO, cam.getStatus().toString());
+
+        return s;
+    }
+}