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Made Elastic Notification gyro warning #20

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Merged
Niosocket11 merged 1 commit into from
Mar 19, 2026
Merged

Made Elastic Notification gyro warning #20

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79 changes: 27 additions & 52 deletions src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
import org.carlmontrobotics.lib199.SensorFactory;
import org.carlmontrobotics.lib199.swerve.SwerveModule;
import org.carlmontrobotics.lib199.swerve.SwerveModuleSim;
import org.carlmontrobotics.lib199.vendorLibs.Elastic;

import static org.carlmontrobotics.Config.CONFIG;

Expand Down Expand Up @@ -412,68 +413,42 @@ public void setDrivingIdleMode(boolean brake) {
}
}

private double timeStampLatestGyroError = 0;
private double timeStampLatestGyroWarning = 0;
private Elastic.Notification notification = new Elastic.Notification();

@Override
public void periodic() {
detectCollision(); //This does nothing
PathPlannerLogging.logCurrentPose(getPose());

//maybe add the field with the position of the robot with only limelight and the field with the position of the robot with only odometry?
//We can compare the two fields to see if odometry is causing the pose to be inaccurate when it hits the reef.

// SmartDashboard.getNumber("GoalPos", turnEncoders[0].getVelocity().getValueAsDouble());
// SmartDashboard.putNumber("FL Motor Val", turnMotors[0].getEncoder().getPosition());
// double goal = SmartDashboard.getNumber("GoalPos", 0);
// PIDController pid = new PIDController(kP, kI, kD);
// kP = SmartDashboard.getNumber("kP", 0);
// kI = SmartDashboard.getNumber("kI", 0);
// kD = SmartDashboard.getNumber("kD", 0);
//pid.setIZone(20);
//SmartDashboard.putBoolean("atgoal", pid.atSetpoint());
// SparkMaxConfig config = new SparkMaxConfig();

//config.closedLoop.feedbackSensor(ClosedLoopConfig.FeedbackSensor.kPrimaryEncoder);
// System.out.println(kP);
// config.closedLoop.pid(kP ,kI,kD);
// config.encoder.positionConversionFactor(360/Constants.Drivetrainc.turnGearing);
// turnMotors[0].configure(config, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
// //moduleFL.move(0.0000001, 180);
//moduleFL.move(0.01, 180);
// moduleFR.move(0.000000001, 0);
// moduleBR.move(0.0000001, 0);
// moduleFL.move(0.000001, 0);
// moduleBL.move(0.000001, 0);
// turnPidControllers[0].setReference(goal

// , ControlType.kPosition, ClosedLoopSlot.kSlot0);


// 167 -> -200
// 138 -> 360
// for (CANcoder coder : turnEncoders) {
// SignalLogger.writeDouble("Regular position " + coder.toString(),
// coder.getPosition().getValue().baseUnitMagnitude());
// SignalLogger.writeDouble("Velocity " + coder.toString(),
// coder.getVelocity().getValue().baseUnitMagnitude());
// SignalLogger.writeDouble("Absolute position " + coder.toString(),
// coder.getAbsolutePosition().getValue().baseUnitMagnitude());
// }
// String out=""; int i=0;
// for (CANcoder coder : turnEncoders) {
// out+=String.format("[i] Abs Pos: %.3f Goal Pos: %.3f ", coder.getAbsolutePosition().getValue().baseUnitMagnitude(),0);
// i++;
// }
// lobotomized to prevent ucontrollabe swerve behavior
// turnMotors[2].setVoltage(SmartDashboard.getNumber("kS", 0));
// moduleFL.periodic();
// moduleFR.periodic();
// moduleBL.periodic();
// moduleBR.periodic();
double goal = SmartDashboard.getNumber("bigoal", 0);
for (SwerveModule module : modules) {
// module.turnPeriodic();
// module.turnPeriodic();
module.periodic();
}
if (!gyro.isConnected()) {
if (fieldOriented) {
if (Timer.getFPGATimestamp() - timeStampLatestGyroError > 5) {
Elastic.sendNotification(notification.withLevel(Elastic.NotificationLevel.ERROR)
.withDisplaySeconds(5)
.withTitle("GYRO")
.withDescription("The NavX Gyro is currently disconnected while driving in field oriented"));
timeStampLatestGyroError = Timer.getFPGATimestamp();

}
}
else {
if (Timer.getFPGATimestamp() - timeStampLatestGyroWarning > 60) {
Elastic.sendNotification(notification.withDisplaySeconds(5)
.withTitle("GYRO")
.withDescription("The NavX Gyro is currently disconnected")
.withLevel(Elastic.NotificationLevel.WARNING));
timeStampLatestGyroWarning = Timer.getFPGATimestamp();
}
}
}


// field.setRobotPose(odometry.getPoseMeters());

Expand Down