Initial Battery Monitor Subsystem #2

mwitcpalek · 2025-01-14T23:33:27Z

No description provided.

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

mwitcpalek · 2025-01-17T01:27:19Z

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

+    //Refresh data and graph it
+    io.updateInputs(inputs);
+
+    //Check for dangerous outputs NOTE all of these values are temporary


You aren't actually using your state machine here...

In NORMAL

calculate the DANGER and WARNING temperature limits based on the current drawn (tLim = temp * slope + offset), WARNING = XX below DANGER

check if temp is greater than DANGER

set appropriate alert

calculate recoveryTemp based on current DANGER limit and save it off

transition to DANGER

check if temp is greater than WARNING

set appropriate alert

calculate recoveryTemp based on current WARNING limit and save it off

transition to WARNING

In WARNING:

calculate current DANGER threshold based on current

check if temp is above DANGER threshold if so:

save off recoveryTemp (xx deg below current DANGER threshold)

set appropriate alerts

change state to DANGER

check if temp is below the saved recoveryTemp, if so:

clear the appropriate alerts

switch states back to NORMAL

In DANGER:

check if the current temp is below the saved recoveryTemp if so:

switch back to NORMAL

clear the appropriate alerts

mwitcpalek · 2025-01-17T01:28:05Z

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

+    io.updateInputs(inputs);
+
+    //Check for dangerous outputs NOTE all of these values are temporary
+    if (inputs.batt1Output > 1000){


If we are trying to have a low battery threshold, that alert should be set based on a constant, not a magic # in code

mwitcpalek · 2025-01-17T01:28:52Z

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

+  private Alert safeAgainAlert = new Alert("SAFE Temp low. Limits removed", AlertType.kInfo);
+
+  @Override
+  public void periodic() {


you are going to want a running average of the temperature to work off of as that signal is quite noisy
we may end up wanting averages of voltages/currents as well

Could use this class in wpilib: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/filter/LinearFilter.html#movingAverage(int)

Would want to make all of the decisions about current limiting on the averaged temp
Should record the averaged temp as an output

mwitcpalek · 2025-01-17T01:30:47Z

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


-public class BattMonConstants {}
+public class BattMonConstants {
+  //All of these aren't right and will need to be determined


I think you are probably going to need the following constants:

For voltage/current measurements (replacing volt where appropriate):

kVolt1

kDutyVolt1

kVolt2

kDutyVolt2

Then the following constants can be calculated in the constants file using those 4 constants (replacing batt and volt with the appropriate naming)

kBattVoltSlope

kBattVoltOffset

Temperature is going to need 2 constants that we can get straight from the datasheet of the sensor
Temp = (dutyCycle - 0.32)/0.0047

mwitcpalek · 2025-01-17T01:40:06Z

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

+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+
+public class BattMonSubsystem extends SubsystemBase {


going to need a getState() method for the robotStateSubsystem to interact with this one

mwitcpalek · 2025-01-21T01:43:27Z

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

+
+    // Check for dangerous outputs NOTE all of these values are temporary
+    switch (curState) {
+      case NORMAL:


Normal could go to either warning or danger temps, right now only accounts for warning

mwitcpalek · 2025-01-21T01:43:49Z

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

+          break;
+        }
+
+      case DANGER:


Danger should recover back to normal

mwitcpalek · 2025-01-21T01:44:47Z

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

+          safeAlert.set(true);
+          curState = battMonState.NORMAL;
+        } else {
+          break;


as opposed to putting break in else statement, just put at end of particular switch case

mwitcpalek · 2025-01-21T01:51:25Z

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

+  public static double kBreakerTemp1 = 0.32;
+  public static double kBreakerTemp2 = 0.0047;
+
+  // Low Battery Thresholds


Not 100% sure about what these constants are used for

mwitcpalek · 2025-01-21T01:51:42Z

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

+  public static final double kHysteresis = 20;
+  public static final double kWarningOffset = 5;
+
+  public static final double kPDPHigh = 42;


Not 100% sure about what these constants are used for

mwitcpalek · 2025-01-21T01:52:38Z

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

+  private Alert safeAgainAlert = new Alert("SAFE Temp low. Limits removed", AlertType.kInfo);
+
+  @Override
+  public void periodic() {


Could use this class in wpilib: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/filter/LinearFilter.html#movingAverage(int)

mwitcpalek · 2025-01-21T01:53:17Z

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

+  private Alert safeAgainAlert = new Alert("SAFE Temp low. Limits removed", AlertType.kInfo);
+
+  @Override
+  public void periodic() {


Would want to make all of the decisions about current limiting on the averaged temp
Should record the averaged temp as an output

Improved code morale with threat of deletion

Huck-Richardson added 3 commits January 10, 2025 19:59

Started adding the monitoring

b9f710f

Added detection for unsafe temp and battery levels

25c4417

Added dangerous detection for real this time

a7f0d97

mwitcpalek commented Jan 17, 2025

View reviewed changes

Huck-Richardson and others added 3 commits January 17, 2025 18:20

Fixed everything

0809c7b

Merge branch 'main' into battMon

225cbc8

tweaks to constants implementation

8be75f4

mwitcpalek commented Jan 21, 2025

View reviewed changes

Huck-Richardson and others added 4 commits January 23, 2025 19:33

Removed the slackers

f91adac

Improved code morale with threat of deletion

fix braces

0185abb

Merge branch 'main' into battMon

48472e2

tweak constants

78b9af9

mwitcpalek merged commit ca481c9 into main Apr 3, 2025
1 check passed

mwitcpalek deleted the battMon branch April 25, 2025 12:43

Initial Battery Monitor Subsystem #2

Initial Battery Monitor Subsystem #2

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mwitcpalek commented Jan 14, 2025

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