Team4388/Robot-Essentials
1
0
Fork 0
mirror of https://github.com/Team4388/Robot-Essentials.git synced 2026-06-08 16:28:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

add diagonostic for swevedrive

Browse Source
This commit is contained in:
C4llSiqn
2024-11-28 18:12:17 -07:00
parent b916df256d
commit d508822d19
1 changed files with 19 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+19 -13
View File
@@ -21,6 +21,7 @@ import frc4388.utility.RobotGyro;
import frc4388.utility.RobotUnits; import frc4388.utility.RobotUnits;
import frc4388.utility.Status; import frc4388.utility.Status;
import frc4388.utility.Subsystem; import frc4388.utility.Subsystem;
import frc4388.utility.Status.Report;
import frc4388.utility.Status.ReportLevel; import frc4388.utility.Status.ReportLevel;
public class SwerveDrive extends Subsystem { public class SwerveDrive extends Subsystem {
@@ -329,26 +330,31 @@ public class SwerveDrive extends Subsystem {
@Override @Override
public String getSubsystemName() { public String getSubsystemName() {
return "Swerve Drive Controller"; return "Swerve Drive Controller";
} }
@Override @Override
public Status queryStatus() { public Status queryStatus() {
Status status = new Status(); Status status = new Status();
status.addReport(ReportLevel.INFO, "Gyro Angle: " + this.gyro.getAngle()); status.addReport(ReportLevel.INFO, "Gyro Angle: " + this.gyro.getAngle());
status.addReport(ReportLevel.INFO, "Shift State: " + this.speedAdjust); status.addReport(ReportLevel.INFO, "Shift State: " + this.speedAdjust);
//TODO: Add more status things //TODO: Add more status things
return status; return status;
} }
@Override @Override
public Status diagnosticStatus() { public Status diagnosticStatus() {
Log("Diagnostic info for this has not been inplemented!"); //TODO Status status = new Status();
return new Status(); for (SwerveModule module : modules) {
for (Report moduleDignostic : module.diagnosticStatus().reports) {
status.addReport(moduleDignostic.reportLevel, "[" + module.getSubsystemName() + "] " + moduleDignostic.description);
}
}
status.diagnoseHardwareCTRE("Swerve Gyro", gyro.getPigeon());
return status;
} }
} }