added over temp alerts to drive and elevator motors

[thatnerdjack]

Summary by CodeRabbit

• New Features
  • Introduced enhanced motor temperature monitoring across multiple subsystems.
  • Added alert notifications for potential overheating and disconnection issues.
  • Extended real-time tracking of drive and turn motor temperatures to improve system safety and performance.

[coderabbitai]

Walkthrough

This pull request introduces motor temperature monitoring across several subsystems. A new constant (MOTOR_MAX_TEMP) is defined to set the temperature threshold. Updates in the drive and elevator subsystems include additional temperature fields, signals, and alert instances that compare measured temperatures against the constant. Minor changes, such as reordering Lombok import statements, were also made without altering the overall logic.

Changes

File(s)	Change Summary
src/.../Constants.java, src/.../drive/Module.java, src/.../drive/ModuleIO.java, src/.../drive/ModuleIOTalonFX.java, src/.../elevator/Elevator.java	Added MOTOR_MAX_TEMP constant and integrated temperature monitoring by adding new fields, signals, and alert instances. Elevator alerts now use more severe error levels for disconnections.
src/.../CoralInAndOut/CoralInAndOut.java	Reordered Lombok import statements; no functional changes.

Sequence Diagram(s)

sequenceDiagram
    participant TalonFX as ModuleIOTalonFX
    participant IO as ModuleIOInputs
    participant Module as Module
    participant Const as Constants

    TalonFX->>IO: Update driveTempCelsius & turnTempCelsius
    Module->>IO: Read temperature values
    Module->>Const: Retrieve MOTOR_MAX_TEMP
    alt Temperature Exceeds Threshold
        Module->>Module: Trigger driveOverTempAlert & turnOverTempAlert
    end

Loading

sequenceDiagram
    participant Elevator as Elevator
    participant EIO as ElevatorInputs

    Elevator->>EIO: Read leftTempCelsius & rightTempCelsius
    alt Temperature Exceeds Threshold
        Elevator->>Elevator: Trigger leftMotorOverTemp & rightMotorOverTemp alerts
    end

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Possibly related PRs

• 33 elevator improvements #39: Modifies the Module class to use the new MOTOR_MAX_TEMP constant for temperature alerts.
• 2 create functioning elevator #21: Implements temperature-based alerts in the elevator subsystem, directly utilizing the new constant.
• Elevator test #30: Introduces the motor temperature constant used by drive subsystem components for alerting.

Suggested labels

enhancement, bug

Suggested reviewers

• SoggieBoi
• arcadeArchitect

Poem

I'm a rabbit hopping down the code lane,
New constants and alerts make my heart aflame.
Motor temps monitored with a vigilant eye,
Overheat warnings spring up oh-so-sly.
In circuits and bytes, our changes delight,
Carrots and clean commits keep our system light!
Happy hopping through code, day and night!

---

📜 Recent review details

Configuration used: CodeRabbit UI
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 9ede071 and 8529d04.

📒 Files selected for processing (6)

• src/main/java/org/team5924/frc2025/Constants.java (1 hunks)
• src/main/java/org/team5924/frc2025/subsystems/drive/Module.java (4 hunks)
• src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIO.java (2 hunks)
• src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIOTalonFX.java (8 hunks)
• src/main/java/org/team5924/frc2025/subsystems/elevator/Elevator.java (4 hunks)
• src/main/java/org/team5924/frc2025/subsystems/rollers/CoralInAndOut/CoralInAndOut.java (1 hunks)

✅ Files skipped from review due to trivial changes (1)

• src/main/java/org/team5924/frc2025/subsystems/rollers/CoralInAndOut/CoralInAndOut.java

🧰 Additional context used

🧠 Learnings (1)

src/main/java/org/team5924/frc2025/subsystems/elevator/Elevator.java (1)

Learnt from: thatnerdjack
PR: Team5924/GoldenGateRobotics2025#30
File: src/main/java/org/team5924/frc2025/subsystems/elevator/Elevator.java:127-137
Timestamp: 2025-02-14T05:27:22.703Z
Learning: In the Team 5924 robot's elevator subsystem, direct transitions between positions (even large height differences) are considered safe by design and do not require additional validation.

⏰ Context from checks skipped due to timeout of 90000ms (1)

• GitHub Check: Build

🔇 Additional comments (18)

src/main/java/org/team5924/frc2025/Constants.java (1)

50-50: Clear addition of a motor temperature threshold.

The new constant MOTOR_MAX_TEMP with a value of 95 (presumably Celsius) is appropriately placed in the Constants class as it will be used across multiple subsystems to trigger over-temperature alerts.

src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIO.java (2)

30-30: Good addition of drive motor temperature tracking.

The temperature field for the drive motor has been properly added to the ModuleIOInputs class.

---

39-39: Good addition of turn motor temperature tracking.

The temperature field for the turn motor has been properly added to the ModuleIOInputs class.

src/main/java/org/team5924/frc2025/subsystems/drive/Module.java (3)

42-43: Good addition of temperature alert fields.

The new alert fields for drive and turn motors are appropriately defined.

---

65-72: Well-structured temperature alert initialization.

The alert initialization includes clear, descriptive messages and correctly uses the warning alert type since high temperature is a concern but not an immediate failure condition.

---

92-93: Proper implementation of temperature threshold checks.

The alerts are correctly triggered when the respective motor temperature exceeds the defined maximum threshold.

src/main/java/org/team5924/frc2025/subsystems/elevator/Elevator.java (5)

69-70: Good addition of elevator motor temperature alert fields.

The new alert fields for left and right elevator motors are appropriately defined.

---

77-79: Appropriate severity upgrade for motor disconnection alerts.

Changing the alert type from Warning to Error for motor disconnection makes sense as disconnection is a more severe issue that likely requires immediate attention.

---

81-84: Well-structured temperature alert initialization.

The alert initialization includes clear, descriptive messages and correctly uses the warning alert type for temperature concerns.

---

118-119: Proper implementation of temperature threshold checks.

The alerts are correctly triggered when the respective motor temperature exceeds the defined maximum threshold.

---

153-155: Clear reformatting of error reporting.

The multi-line formatting for the error reporting lambda makes the code more readable without changing functionality.

src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIOTalonFX.java (7)

45-45: Added necessary Temperature import.

The import correctly supports the new temperature monitoring functionality being added.

---

87-87: Properly added temperature status signals.

The new status signals for drive and turn motor temperatures are correctly defined as private final fields following the established pattern for other motor parameters.

Also applies to: 96-96

---

173-173: Good initialization of temperature signals.

The temperature signals are properly initialized using the motor controller's getDeviceTemp() method.

Also applies to: 182-182

---

195-197: Temperature signals added to update frequency configuration.

The temperature signals are set to update at 50.0 Hz along with other motor parameters, which is appropriate for temperature monitoring since temperature changes relatively slowly.

---

205-206: Temperature signals included in refresh calls.

The temperature signals are properly included in the BaseStatusSignal.refreshAll method calls, ensuring their values are updated during each cycle.

Also applies to: 208-209

---

218-218: Temperature values exposed through inputs object.

The temperature values are correctly assigned to the inputs object, making them accessible to other components like the temperature alert system mentioned in the PR description.

Also applies to: 228-228

---

45-228:

✅ Verification successful

Verify temperature alert implementation and threshold.

The temperature monitoring is correctly implemented, but ensure that:

1. The MOTOR_MAX_TEMP constant mentioned in the AI summary is defined somewhere
2. The alert logic that uses these temperature values is implemented in the Module class
3. The ModuleIOInputs class has been updated to include the driveTempCelsius and turnTempCelsius fields

---

🏁 Script executed:

#!/bin/bash
# Check for MOTOR_MAX_TEMP constant
echo "Looking for MOTOR_MAX_TEMP constant..."
rg "MOTOR_MAX_TEMP" --type java

# Check for temperature alert implementation in Module class
echo "Looking for temperature alert implementation in Module class..."
rg "OverTempAlert|driveOverTempAlert|turnOverTempAlert" src/main/java/org/team5924/frc2025/subsystems/drive/Module.java

# Check if ModuleIOInputs has been updated with temperature fields
echo "Checking ModuleIOInputs for temperature fields..."
rg "driveTempCelsius|turnTempCelsius" src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIO.java

Length of output: 1647

---

Temperature Alert Verification Completed

• The MOTOR_MAX_TEMP constant is defined in src/main/java/org/team5924/frc2025/Constants.java with the value of 95.
• The temperature alert logic in src/main/java/org/team5924/frc2025/subsystems/drive/Module.java correctly sets driveOverTempAlert and turnOverTempAlert by comparing driveTempCelsius and turnTempCelsius against Constants.MOTOR_MAX_TEMP.
• The ModuleIOInputs class in src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIO.java has been updated with the driveTempCelsius and turnTempCelsius fields.

All temperature threshold and alert implementations are in order.

✨ Finishing Touches

• 📝 Generate Docstrings

---

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