Fixed everything

Author: Huck-Richardson

src/main/java/frc/robot/constants/BattMonConstants.java

@@ -2,13 +2,19 @@
 
 public class BattMonConstants {
   // All of these aren't right and will need to be determined
-  public static double kBatt1 = 42;
-  public static double kBatt2 = 42;
-  public static double kPDP = 42;
-  public static double kTemp = 42;
+  public static double kBattVolt1 = 42;
+  public static double kBattVolt2;
+  public static double kBattCurrent1 = 42;
+  public static double kBattCurrent2;
+  public static double kPdpVoltage1 = 42;
+  public static double kPdpVoltage2;
+  public static double kBreakerTemp1 = 0.32;
+  public static double kBreakerTemp2 = 0.0047;
 
   public static double kBatt1Low = 2;
   public static double kBatt2Low = 2;
   public static double kPDPHigh = 42;
-  public static double kTempHigh = 300;
+  public static double kTempHighSlope = 10;
+  public static double kTempDangerSlope = 15;
+  public static double kHysteresis= 1;
 }

src/main/java/frc/robot/subsystems/battMon/BattMonHardware.java

@@ -7,13 +7,13 @@
 
 public class BattMonHardware implements BattMonIO {
 
-  private DigitalInput batt1 = new DigitalInput(0);
-  private DigitalInput batt2 = new DigitalInput(1);
-  private DigitalInput PDP = new DigitalInput(3);
+  private DigitalInput battVoltage = new DigitalInput(0);
+  private DigitalInput battCurrent = new DigitalInput(1);
+  private DigitalInput pdpVoltage = new DigitalInput(3);
   private DigitalInput temp = new DigitalInput(4);
-  private DutyCycle batt1Cycle = new DutyCycle(batt1);
-  private DutyCycle batt2Cycle = new DutyCycle(batt2);
-  private DutyCycle PDPCycle = new DutyCycle(PDP);
+  private DutyCycle battVoltageCycle = new DutyCycle(battVoltage);
+  private DutyCycle battCurrentCycle = new DutyCycle(battCurrent);
+  private DutyCycle pdpCycle = new DutyCycle(pdpVoltage);
   private DutyCycle tempCycle = new DutyCycle(temp);
 
   private Counter tempCounter = new Counter(temp);
@@ -24,11 +24,14 @@ public BattMonHardware() {
 
   @Override
   public void updateInputs(BattMonIOInputs inputs) {
-    inputs.batt1Output = batt1Cycle.getOutput() * BattMonConstants.kBatt1;
-    inputs.batt2Output = batt2Cycle.getOutput() * BattMonConstants.kBatt2;
-    inputs.pdpOutput = PDPCycle.getOutput() * BattMonConstants.kPDP;
-    inputs.tempOutput =
-        (tempCycle.getHighTimeNanoseconds() / (tempCounter.getPeriod() / 1000000000))
-            * BattMonConstants.kTemp;
+    inputs.batteryVoltage = battVoltageCycle.getOutput() 
+    * BattMonConstants.kBattVolt1 * BattMonConstants.kBattVolt2;
+    inputs.batteryCurrent = battCurrentCycle.getOutput() 
+    * BattMonConstants.kBattCurrent1 * BattMonConstants.kBattCurrent2;
+    inputs.pdpVoltage = pdpCycle.getOutput() 
+    * BattMonConstants.kPdpVoltage1 * BattMonConstants.kPdpVoltage2;
+    inputs.breakerTemp =
+        ((tempCycle.getHighTimeNanoseconds() / (tempCounter.getPeriod() / 1000000000))
+            - BattMonConstants.kBreakerTemp1) / BattMonConstants.kBreakerTemp2;
   }
 }

src/main/java/frc/robot/subsystems/battMon/BattMonIO.java

@@ -6,10 +6,10 @@ public interface BattMonIO {
 
   @AutoLog
   public class BattMonIOInputs {
-    public double batt1Output;
-    public double batt2Output;
-    public double pdpOutput;
-    public double tempOutput;
+    public double batteryVoltage;
+    public double batteryCurrent;
+    public double pdpVoltage;
+    public double breakerTemp;
   }
 
   public default void updateInputs(BattMonIOInputs inputs) {}

src/main/java/frc/robot/subsystems/battMon/BattMonSubsystem.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.BattMonConstants;
 import frc.robot.subsystems.battMon.BattMonIO.BattMonIOInputs;
 
 public class BattMonSubsystem extends SubsystemBase {
@@ -25,21 +26,21 @@ public void periodic() {
     // Check for dangerous outputs NOTE all of these values are temporary
     switch (curState) {
       case NORMAL:
-        if (inputs.tempOutput >= (1000 * inputs.pdpOutput)) {
+        if (inputs.breakerTemp >= (BattMonConstants.kTempHighSlope * inputs.pdpVoltage + 100)) {
           highTempAlert.set(true);
           safeAlert.set(false);
-          tempThreshold = inputs.tempOutput - (100 * inputs.pdpOutput);
+          tempThreshold = inputs.breakerTemp - BattMonConstants.kHysteresis * inputs.pdpVoltage;
           curState = battMonState.WARNING;
         } else {
           break;
         }
 
       case WARNING:
-        if (inputs.tempOutput > (2000 * inputs.pdpOutput)) {
+        if (inputs.breakerTemp > (BattMonConstants.kTempDangerSlope * inputs.pdpVoltage)) {
           highTempAlert.set(false);
           dangerTempAlert.set(true);
           curState = battMonState.DANGER;
-        } else if (inputs.tempOutput < tempThreshold) {
+        } else if (inputs.breakerTemp < tempThreshold) {
           highTempAlert.set(false);
           safeAlert.set(true);
           curState = battMonState.NORMAL;
@@ -48,7 +49,7 @@ public void periodic() {
         }
 
       case DANGER:
-        if (inputs.tempOutput >= (2000 * inputs.pdpOutput)) {
+        if (inputs.breakerTemp >= (BattMonConstants.kTempDangerSlope * inputs.pdpVoltage)) {
           break;
         } else {
           dangerTempAlert.set(false);