added over temp alerts to drive and elevator motors

src/main/java/org/team5924/frc2025/Constants.java

@@ -47,6 +47,7 @@ public static enum Mode {
 
   /* General */
   public static final double LOOP_PERIODIC_SECONDS = 0.02;
+  public static final double MOTOR_MAX_TEMP = 95;
 
   /* ### Subsystems ### */
   /* # Rollers # */

src/main/java/org/team5924/frc2025/subsystems/drive/Module.java

@@ -26,6 +26,7 @@
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import org.littletonrobotics.junction.Logger;
+import org.team5924.frc2025.Constants;
 
 public class Module {
   private final ModuleIO io;
@@ -38,6 +39,8 @@ public class Module {
   private final Alert driveDisconnectedAlert;
   private final Alert turnDisconnectedAlert;
   private final Alert turnEncoderDisconnectedAlert;
+  private final Alert driveOverTempAlert;
+  private final Alert turnOverTempAlert;
   private SwerveModulePosition[] odometryPositions = new SwerveModulePosition[] {};
 
   public Module(
@@ -59,6 +62,14 @@ public Module(
         new Alert(
             "Disconnected turn encoder on module " + Integer.toString(index) + ".",
             AlertType.kError);
+    driveOverTempAlert =
+        new Alert(
+            "Drive motor on module " + Integer.toString(index) + " is overheating.",
+            AlertType.kWarning);
+    turnOverTempAlert =
+        new Alert(
+            "Turn motor on module " + Integer.toString(index) + " is overheating.",
+            AlertType.kWarning);
   }
 
   public void periodic() {
@@ -78,6 +89,8 @@ public void periodic() {
     driveDisconnectedAlert.set(!inputs.driveConnected);
     turnDisconnectedAlert.set(!inputs.turnConnected);
     turnEncoderDisconnectedAlert.set(!inputs.turnEncoderConnected);
+    driveOverTempAlert.set(inputs.driveTempCelsius > Constants.MOTOR_MAX_TEMP);
+    turnOverTempAlert.set(inputs.turnTempCelsius > Constants.MOTOR_MAX_TEMP);
   }
 
   /** Runs the module with the specified setpoint state. Mutates the state to optimize it. */

src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIO.java

@@ -27,6 +27,7 @@ public static class ModuleIOInputs {
     public double driveVelocityRadPerSec = 0.0;
     public double driveAppliedVolts = 0.0;
     public double driveCurrentAmps = 0.0;
+    public double driveTempCelsius = 0.0;
 
     public boolean turnConnected = false;
     public boolean turnEncoderConnected = false;
@@ -35,6 +36,7 @@ public static class ModuleIOInputs {
     public double turnVelocityRadPerSec = 0.0;
     public double turnAppliedVolts = 0.0;
     public double turnCurrentAmps = 0.0;
+    public double turnTempCelsius = 0.0;
 
     public double[] odometryTimestamps = new double[] {};
     public double[] odometryDrivePositionsRad = new double[] {};

src/main/java/org/team5924/frc2025/subsystems/drive/ModuleIOTalonFX.java

@@ -42,6 +42,7 @@
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
 import edu.wpi.first.units.measure.Voltage;
 import java.util.Queue;
 import org.team5924.frc2025.generated.TunerConstants;
@@ -83,6 +84,7 @@ public class ModuleIOTalonFX implements ModuleIO {
   private final StatusSignal<AngularVelocity> driveVelocity;
   private final StatusSignal<Voltage> driveAppliedVolts;
   private final StatusSignal<Current> driveCurrent;
+  private final StatusSignal<Temperature> driveTemp;
 
   // Inputs from turn motor
   private final StatusSignal<Angle> turnAbsolutePosition;
@@ -91,6 +93,7 @@ public class ModuleIOTalonFX implements ModuleIO {
   private final StatusSignal<AngularVelocity> turnVelocity;
   private final StatusSignal<Voltage> turnAppliedVolts;
   private final StatusSignal<Current> turnCurrent;
+  private final StatusSignal<Temperature> turnTemp;
 
   // Connection debouncers
   private final Debouncer driveConnectedDebounce = new Debouncer(0.5);
@@ -167,6 +170,7 @@ public ModuleIOTalonFX(
     driveVelocity = driveTalon.getVelocity();
     driveAppliedVolts = driveTalon.getMotorVoltage();
     driveCurrent = driveTalon.getStatorCurrent();
+    driveTemp = driveTalon.getDeviceTemp();
 
     // Create turn status signals
     turnAbsolutePosition = cancoder.getAbsolutePosition();
@@ -175,6 +179,7 @@ public ModuleIOTalonFX(
     turnVelocity = turnTalon.getVelocity();
     turnAppliedVolts = turnTalon.getMotorVoltage();
     turnCurrent = turnTalon.getStatorCurrent();
+    turnTemp = turnTalon.getDeviceTemp();
 
     // Configure periodic frames
     BaseStatusSignal.setUpdateFrequencyForAll(
@@ -187,17 +192,21 @@ public ModuleIOTalonFX(
         turnAbsolutePosition,
         turnVelocity,
         turnAppliedVolts,
-        turnCurrent);
+        turnCurrent,
+        driveTemp,
+        turnTemp);
     ParentDevice.optimizeBusUtilizationForAll(driveTalon, turnTalon);
   }
 
   @Override
   public void updateInputs(ModuleIOInputs inputs) {
     // Refresh all signals
     var driveStatus =
-        BaseStatusSignal.refreshAll(drivePosition, driveVelocity, driveAppliedVolts, driveCurrent);
+        BaseStatusSignal.refreshAll(
+            drivePosition, driveVelocity, driveAppliedVolts, driveCurrent, driveTemp);
     var turnStatus =
-        BaseStatusSignal.refreshAll(turnPosition, turnVelocity, turnAppliedVolts, turnCurrent);
+        BaseStatusSignal.refreshAll(
+            turnPosition, turnVelocity, turnAppliedVolts, turnCurrent, turnTemp);
     var turnEncoderStatus = BaseStatusSignal.refreshAll(turnAbsolutePosition);
 
     // Update drive inputs
@@ -206,6 +215,7 @@ public void updateInputs(ModuleIOInputs inputs) {
     inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble());
     inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble();
     inputs.driveCurrentAmps = driveCurrent.getValueAsDouble();
+    inputs.driveTempCelsius = driveTemp.getValueAsDouble();
 
     // Update turn inputs
     inputs.turnConnected = turnConnectedDebounce.calculate(turnStatus.isOK());
@@ -215,6 +225,7 @@ public void updateInputs(ModuleIOInputs inputs) {
     inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble());
     inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
     inputs.turnCurrentAmps = turnCurrent.getValueAsDouble();
+    inputs.turnTempCelsius = turnTemp.getValueAsDouble();
 
     // Update odometry inputs
     inputs.odometryTimestamps =

src/main/java/org/team5924/frc2025/subsystems/elevator/Elevator.java

@@ -16,21 +16,21 @@
 
 package org.team5924.frc2025.subsystems.elevator;
 
-import org.littletonrobotics.junction.Logger;
-import org.team5924.frc2025.Constants;
-import org.team5924.frc2025.RobotState;
-import org.team5924.frc2025.util.LoggedTunableNumber;
-
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.units.Units.Volts;
+
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import lombok.Getter;
+import org.littletonrobotics.junction.Logger;
+import org.team5924.frc2025.Constants;
+import org.team5924.frc2025.RobotState;
+import org.team5924.frc2025.util.LoggedTunableNumber;
 
 public class Elevator extends SubsystemBase {
   // Tolerance for position control (in meters)
@@ -66,14 +66,22 @@ public enum ElevatorState {
   private final Alert leftMotorDisconnected;
   private final Alert rightMotorDisconnected;
 
+  private final Alert leftMotorOverTemp;
+  private final Alert rightMotorOverTemp;
+
   public Elevator(ElevatorIO io) {
     this.io = io;
     this.goalState = ElevatorState.MANUAL;
     RobotState.getInstance().setElevatorState(this.goalState);
     this.leftMotorDisconnected =
-        new Alert("Left elevator motor disconnected!", Alert.AlertType.kWarning);
+        new Alert("Left elevator motor disconnected!", Alert.AlertType.kError);
     this.rightMotorDisconnected =
-        new Alert("Right elevator motor disconnected!", Alert.AlertType.kWarning);
+        new Alert("Right elevator motor disconnected!", Alert.AlertType.kError);
+
+    this.leftMotorOverTemp =
+        new Alert("Left elevator motor over temperature!", Alert.AlertType.kWarning);
+    this.rightMotorOverTemp =
+        new Alert("Right elevator motor over temperature!", Alert.AlertType.kWarning);
 
     upSysId =
         new SysIdRoutine(
@@ -107,6 +115,9 @@ public void periodic() {
     leftMotorDisconnected.set(!inputs.leftMotorConnected);
     rightMotorDisconnected.set(!inputs.rightMotorConnected);
 
+    leftMotorOverTemp.set(inputs.leftTempCelsius > Constants.MOTOR_MAX_TEMP);
+    rightMotorOverTemp.set(inputs.rightTempCelsius > Constants.MOTOR_MAX_TEMP);
+
     io.periodicUpdates();
   }
 
@@ -139,7 +150,9 @@ public void setGoalState(ElevatorState goalState) {
     this.goalState = goalState;
     switch (goalState) {
       case MANUAL -> RobotState.getInstance().setElevatorState(ElevatorState.MANUAL);
-      case MOVING -> DriverStation.reportError("MOVING is an intermediate state and cannot be set as a goal state!", null);
+      case MOVING ->
+          DriverStation.reportError(
+              "MOVING is an intermediate state and cannot be set as a goal state!", null);
       default -> {
         RobotState.getInstance().setElevatorState(ElevatorState.MOVING);
         io.setHeight(goalState.heightMeters.getAsDouble());

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

@@ -17,17 +17,15 @@
 package org.team5924.frc2025.subsystems.rollers.CoralInAndOut;
 
 import java.util.function.DoubleSupplier;
-
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import lombok.Setter;
 import org.littletonrobotics.junction.Logger;
 import org.team5924.frc2025.RobotState;
 import org.team5924.frc2025.subsystems.rollers.GenericRollerSystem;
 import org.team5924.frc2025.subsystems.rollers.GenericRollerSystem.VoltageState;
 import org.team5924.frc2025.util.LoggedTunableNumber;
 
-import lombok.Getter;
-import lombok.RequiredArgsConstructor;
-import lombok.Setter;
-
 @Setter
 @Getter
 public class CoralInAndOut extends GenericRollerSystem<CoralInAndOut.CoralState> {