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add diagonostic for swevedrive

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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
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+9 -3
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@@ -21,6 +21,7 @@ import frc4388.utility.RobotGyro;
import frc4388.utility.RobotUnits;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.Status.Report;
import frc4388.utility.Status.ReportLevel;
public class SwerveDrive extends Subsystem {
@@ -345,10 +346,15 @@ public class SwerveDrive extends Subsystem {
@Override
public Status diagnosticStatus() {
Log("Diagnostic info for this has not been inplemented!"); //TODO
return new Status();
Status status = 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;
}
}