Initial Battery Monitor Subsystem

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

@@ -1,3 +1,14 @@
 package frc.robot.constants;
 
-public class BattMonConstants {}
+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

@@ -1,3 +1,34 @@
 package frc.robot.subsystems.battMon;
 
-public class BattMonHardware {}
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DutyCycle;
+import frc.robot.constants.BattMonConstants;
+
+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 temp = new DigitalInput(4);
+  private DutyCycle batt1Cycle = new DutyCycle(batt1);
+  private DutyCycle batt2Cycle = new DutyCycle(batt2);
+  private DutyCycle PDPCycle = new DutyCycle(PDP);
+  private DutyCycle tempCycle = new DutyCycle(temp);
+
+  private Counter tempCounter = new Counter(temp);
+
+  public BattMonHardware() {
+    tempCounter.setUpSourceEdge(true, false);
+  }
+
+  @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;
+  }
+}

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

@@ -1,3 +1,16 @@
 package frc.robot.subsystems.battMon;
 
-public class BattMonIO {}
+import org.littletonrobotics.junction.AutoLog;
+
+public interface BattMonIO {
+
+  @AutoLog
+  public class BattMonIOInputs {
+    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

@@ -1,3 +1,54 @@
 package frc.robot.subsystems.battMon;
 
-public class BattMonSubsystem {}
+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
+}
+
+}
+