Added detection for unsafe temp and battery levels

Author: Huck-Richardson

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

@@ -1,9 +1,14 @@
 package frc.robot.constants;
 
 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 kBatt1Low = 2;
+  public static double kBatt2Low = 2;
+  public static double kPDPHigh = 42;
+  public static double kTempHigh = 300;
 }

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

@@ -4,8 +4,6 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DutyCycle;
 import frc.robot.constants.BattMonConstants;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
 
 public class BattMonHardware implements BattMonIO {
 
@@ -17,16 +15,10 @@ public class BattMonHardware implements BattMonIO {
   private DutyCycle batt2Cycle = new DutyCycle(batt2);
   private DutyCycle PDPCycle = new DutyCycle(PDP);
   private DutyCycle tempCycle = new DutyCycle(temp);
-  private Logger logger;
 
-  private double batt1Output;
-  private double batt2Output;
-  private double pdpOutput;
-  private double tempOutput;
   private Counter tempCounter = new Counter(temp);
 
   public BattMonHardware() {
-    logger = LoggerFactory.getLogger(this.getClass());
     tempCounter.setUpSourceEdge(true, false);
   }
 

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

@@ -6,10 +6,10 @@ public interface BattMonIO {
 
   @AutoLog
   public class BattMonIOInputs {
-    public double batt1Output = 0;
-    public double batt2Output = 0;
-    public double pdpOutput = 0;
-    public double tempOutput = 0;
+    public double batt1Output;
+    public double batt2Output;
+    public double pdpOutput ;
+    public double tempOutput ;
   }
 
   public default void updateInputs(BattMonIOInputs inputs) {}

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

@@ -2,13 +2,53 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.subsystems.battMon.BattMonIO.BattMonIOInputs;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
 
 public class BattMonSubsystem extends SubsystemBase {
+  //Private objects
   private BattMonIO io;
   private BattMonIOInputs inputs = new BattMonIOInputs();
+  //Alerts
+  private Alert lowBattAlert = new Alert("WARNING low battery", AlertType.kWarning);
+  private Alert highTempAlert = new Alert("WARNING reaching maximum temp!", AlertType.kWarning);
+  private Alert dangerTempAlert = new Alert("DANGER MAXIMUM TEMP REACHED", AlertType.kError);
+  private Alert safeAgainAlert = new Alert("SAFE Temp low. Limits removed", AlertType.kInfo);
 
   @Override
   public void periodic() {
+    //Refresh data and graph it
     io.updateInputs(inputs);
+
+    //Check for dangerous outputs NOTE all of these values are temporary
+    if (inputs.batt1Output > 1000){
+      lowBattAlert.set(true);
+    }else {
+      lowBattAlert.set(false);
+    }
+
+    if (inputs.tempOutput > (1000 * inputs.pdpOutput)){
+      highTempAlert.set(true);
+      safeAgainAlert.set(false);
+    }else if (inputs.tempOutput > (2000 * inputs.pdpOutput) 
+    && inputs.tempOutput < (1000 * inputs.pdpOutput)) {
+      highTempAlert.set(false);
+      dangerTempAlert.set(true);
+    }else {
+      highTempAlert.set(false);
+      dangerTempAlert.set(false);
+      safeAgainAlert.set(true);
+    }
+    
   }
+
+public enum battMonStates {
+  
+    NORMAL,//Safe Temp
+    WARNING,//Reaching Dangerous temps
+    DANGER,//Dangerous temps
+    BATTLOW //Low Battery
 }
+
+}
+