put motor stats to NT

src/main/java/frc/robot/subsystems/climb/ClimbArm.java

@@ -10,6 +10,10 @@
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTableEntry;
+
 import frc.robot.util.MotorUtil;
 
 /**
@@ -23,6 +27,12 @@ public class ClimbArm {
     private double winchPower;
     private double prevWinchPower;
 
+    private NetworkTableInstance climbNTInstance;
+    private NetworkTable motorsNTTable;
+    private NetworkTableEntry currentEntry;
+    private NetworkTableEntry voltageEntry;
+    private NetworkTableEntry temperatureEntry;
+
     /**
      * Constructs a new {@link ClimbArm}.
      *
@@ -48,6 +58,13 @@ public ClimbArm(int winchMotorId, int zeroLimitPort, boolean isInverted) {
 
         winchPower = 0;
         prevWinchPower = 0;
+
+        climbNTInstance = NetworkTableInstance.getDefault();
+        motorsNTTable = climbNTInstance.getTable("Motors");
+        currentEntry = motorsNTTable.getEntry("Climb" + winchMotorId + "Current");
+        voltageEntry = motorsNTTable.getEntry("Climb" + winchMotorId + "Voltage");
+        temperatureEntry = motorsNTTable.getEntry("Climb" + winchMotorId + "Temperature");
+
     }
 
     /** Run this function every periodic loop.*/
@@ -64,6 +81,10 @@ public void update(double speed) {
         }
 
         prevWinchPower = winchPower;
+
+        currentEntry.setDouble(winchMotor.getOutputCurrent());
+        voltageEntry.setDouble(winchMotor.getBusVoltage());
+        temperatureEntry.setDouble(winchMotor.getMotorTemperature());
     }
 
     /**

src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java

@@ -89,12 +89,12 @@ public ElevatorSubsystem() {
         limitSwitchEntry = elevatorNetworkTable.getEntry("LimitSwitch");
         extensionPercentEntry = elevatorNetworkTable.getEntry("ExtensionPercent");
         targetStateEntry = elevatorNetworkTable.getEntry("TargetState");
-        motor10CurrentEntry = motorsNetworkTable.getEntry("10Current");
-        motor10VoltageEntry = motorsNetworkTable.getEntry("10Voltage");
-        motor10TemperatureEntry = motorsNetworkTable.getEntry("10Temperature");
-        motor11CurrentEntry = motorsNetworkTable.getEntry("11Current");
-        motor11VoltageEntry = motorsNetworkTable.getEntry("11Voltage");
-        motor11TemperatureEntry = motorsNetworkTable.getEntry("11Temperature");
+        motor10CurrentEntry = motorsNetworkTable.getEntry("Elevator10Current");
+        motor10VoltageEntry = motorsNetworkTable.getEntry("Elevator10Voltage");
+        motor10TemperatureEntry = motorsNetworkTable.getEntry("Elevator10Temperature");
+        motor11CurrentEntry = motorsNetworkTable.getEntry("Elevator11Current");
+        motor11VoltageEntry = motorsNetworkTable.getEntry("Elevator11Voltage");
+        motor11TemperatureEntry = motorsNetworkTable.getEntry("Elevator11Temperature");
 
     }
 

src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java

@@ -7,6 +7,10 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTableEntry;
+
 
 /** The subsystem for the pivot on the intake. */
 public class IntakePivotSubsystem extends SubsystemBase {
@@ -15,6 +19,12 @@ public class IntakePivotSubsystem extends SubsystemBase {
 
     private PositionVoltage request = new PositionVoltage(0).withSlot(0);
     private double setPos = 0;
+
+    private NetworkTableInstance ntInstance;
+    private NetworkTable motorsNTTable;
+    private NetworkTableEntry intake16CurrentEntry;
+    private NetworkTableEntry intake16VoltageEntry;
+    private NetworkTableEntry intake16TemperatureEntry;
 
     /**
      * Subsystem for controlling the pivot on the intake.
@@ -34,6 +44,12 @@ public IntakePivotSubsystem() {
 
         pivotMotor.getConfigurator().apply(slot0Configs);
         pivotMotor.setPosition(0);
+
+        ntInstance = NetworkTableInstance.getDefault();
+        motorsNTTable = ntInstance.getTable("Motors");
+        intake16CurrentEntry = motorsNTTable.getEntry("Intake16Current");
+        intake16VoltageEntry = motorsNTTable.getEntry("Intake16Voltage");
+        intake16TemperatureEntry = motorsNTTable.getEntry("Intake16Temperature");
     }
 
     /**
@@ -73,5 +89,9 @@ public void movePivot(double speed) {
     @Override
     public void periodic() {
         pivotMotor.setControl(request.withPosition(setPos / IntakeConstants.PIVOT_CONVERSION_FACTOR));
+
+        intake16CurrentEntry.setDouble(pivotMotor.getSupplyCurrent().getValueAsDouble());
+        intake16VoltageEntry.setDouble(pivotMotor.getMotorVoltage().getValueAsDouble());
+        intake16TemperatureEntry.setDouble(pivotMotor.getDeviceTemp().getValueAsDouble());
     }
 }

src/main/java/frc/robot/subsystems/intake/IntakeRollerSubsystem.java

@@ -50,6 +50,14 @@ public class IntakeRollerSubsystem extends SubsystemBase {
     private BooleanPublisher ntFrontPublisher;
     private BooleanPublisher ntBackPublisher;
 
+    private NetworkTable motorsNTTable;
+    private NetworkTableEntry frontMotorCurrentEntry;
+    private NetworkTableEntry frontMotorVoltageEntry;
+    private NetworkTableEntry frontMotorTemperatureEntry;
+    private NetworkTableEntry integrationMotorCurrentEntry;
+    private NetworkTableEntry integrationMotorVoltageEntry;
+    private NetworkTableEntry integrationMotorTemperatureEntry;
+
     private NetworkTable intakeNTTable;
     private NetworkTableEntry frontSensorEntry;
     private NetworkTableEntry rockwellSensorEntry;
@@ -81,6 +89,13 @@ public IntakeRollerSubsystem(LightBarSubsystem lightBarSubsystem) {
         ntFrontPublisher = ntTable.getBooleanTopic("FrontSensor").publish();
         ntBackPublisher = ntTable.getBooleanTopic("BackSensor").publish();
 
+        motorsNTTable = ntInstance.getTable("Motors");
+        frontMotorCurrentEntry = motorsNTTable.getEntry("Intake17Current");
+        frontMotorVoltageEntry = motorsNTTable.getEntry("Intake17Voltage");
+        frontMotorTemperatureEntry = motorsNTTable.getEntry("Intake17Temperature");
+        integrationMotorCurrentEntry = motorsNTTable.getEntry("Intake19Current");
+        integrationMotorVoltageEntry = motorsNTTable.getEntry("Intake19Voltage");
+        integrationMotorTemperatureEntry = motorsNTTable.getEntry("Intake19Temperature");
         this.lightBarSubsystem = lightBarSubsystem;
 
         // colorResetTimer = new Timer();
@@ -149,6 +164,13 @@ public void periodic() {
         rockwellSensorEntry.setBoolean(getRockwellSensorValue());
         ampSenSorEntry.setBoolean(getAmpSensor());
 
+        frontMotorCurrentEntry.setDouble(frontMotors.getOutputCurrent());
+        frontMotorVoltageEntry.setDouble(frontMotors.getBusVoltage());
+        frontMotorTemperatureEntry.setDouble(frontMotors.getMotorTemperature());
+        integrationMotorCurrentEntry.setDouble(integrationMotor.getSupplyCurrent());
+        integrationMotorVoltageEntry.setDouble(integrationMotor.getMotorOutputVoltage());
+        integrationMotorTemperatureEntry.setDouble(integrationMotor.getTemperature());
+
         ntFrontPublisher.set(getFrontSensorReached());
         prevFrontSensorValue = getFrontSensorValue();
         if (getFrontSensorValue()) {

src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java

@@ -14,6 +14,7 @@
 import edu.wpi.first.networktables.BooleanPublisher;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -54,6 +55,13 @@ public class ShooterFlywheelSubsystem extends SubsystemBase {
     private boolean autoAim = false;
     private Pose2d targetPose;
 
+    private NetworkTable motorsNTTable;
+    private NetworkTableEntry shooter13CurrentEntry;
+    private NetworkTableEntry shooter13VoltageEntry;
+    private NetworkTableEntry shooter13TemperatureEntry;
+    private NetworkTableEntry shooter14CurrentEntry;
+    private NetworkTableEntry shooter14VoltageEntry;
+    private NetworkTableEntry shooter14TemperatureEntry;
     /**
      * Runs the flywheels for the shooter.
      *
@@ -105,6 +113,13 @@ public ShooterFlywheelSubsystem(Pose2dSupplier poseSupplier, BooleanSupplier red
         ntInstance = NetworkTableInstance.getDefault();
         ntTable = ntInstance.getTable("RobotStatus");
         ntPublisher = ntTable.getBooleanTopic("shooterReady").publish();
+        motorsNTTable = ntInstance.getTable("Motors");
+        shooter13CurrentEntry = motorsNTTable.getEntry("Shooter13Current");
+        shooter13VoltageEntry = motorsNTTable.getEntry("Shooter13Voltage");
+        shooter13TemperatureEntry = motorsNTTable.getEntry("Shooter13Temperature");
+        shooter14CurrentEntry = motorsNTTable.getEntry("Shooter14Current");
+        shooter14VoltageEntry = motorsNTTable.getEntry("Shooter14Voltage");
+        shooter14TemperatureEntry = motorsNTTable.getEntry("Shooter14Temperature");
     }
 
     /** Sets shooting motor speed.  */
@@ -237,5 +252,12 @@ public void periodic() {
         if (autoAim) {
             setShooterMotorSpeed(getTopMotorSplineSpeed(), getBottomMotorSplineSpeed());
         }
+
+        shooter13CurrentEntry.setDouble(shooterMotorTop.getSupplyCurrent().getValueAsDouble());
+        shooter13VoltageEntry.setDouble(shooterMotorTop.getMotorVoltage().getValueAsDouble());
+        shooter13TemperatureEntry.setDouble(shooterMotorTop.getDeviceTemp().getValueAsDouble());
+        shooter14CurrentEntry.setDouble(shooterMotorBottom.getSupplyCurrent().getValueAsDouble());
+        shooter14VoltageEntry.setDouble(shooterMotorBottom.getMotorVoltage().getValueAsDouble());
+        shooter14TemperatureEntry.setDouble(shooterMotorBottom.getDeviceTemp().getValueAsDouble());
     }
 }

src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java

@@ -7,6 +7,9 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkPIDController;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.util.Units;
@@ -22,6 +25,7 @@
 
 import org.apache.commons.math3.analysis.interpolation.AkimaSplineInterpolator;
 import org.apache.commons.math3.analysis.polynomials.PolynomialSplineFunction;
+import org.apache.commons.math3.ml.neuralnet.Network;
 
 /** Controls motors and functions for the pivot part of shooter mech. */
 public class ShooterPivotSubsystem extends SubsystemBase {
@@ -53,6 +57,12 @@ public class ShooterPivotSubsystem extends SubsystemBase {
 
     private double angleOffset = 0;
 
+    private NetworkTableInstance ntInstance;
+    private NetworkTable motorsTable;
+    private NetworkTableEntry shooter12CurrentEntry;
+    private NetworkTableEntry shooter12VoltageEntry;
+    private NetworkTableEntry shooter12TemperatureEntry;
+
     /** Inits motors and pose field. Also inits PID stuff. */
     public ShooterPivotSubsystem(Pose2dSupplier poseSupplier, BooleanSupplier redSupplier) {
 
@@ -117,6 +127,12 @@ public ShooterPivotSubsystem(Pose2dSupplier poseSupplier, BooleanSupplier redSup
         autoAim = false;
 
         rotationPIDController.setReference(Units.degreesToRadians(18), ControlType.kPosition);
+
+        ntInstance = NetworkTableInstance.getDefault();
+        motorsTable = ntInstance.getTable("Motors");
+        shooter12CurrentEntry = motorsTable.getEntry("Shooter12CurrentEntry");
+        shooter12VoltageEntry = motorsTable.getEntry("Shooter12Voltage");
+        shooter12TemperatureEntry = motorsTable.getEntry("Shooter12Temperature");
     }
 
     /** motor speed setting functions. */
@@ -177,6 +193,10 @@ public void periodic() {
         if (autoAim) {
             setAngle(getAutoAimAngle());
         }
+
+        shooter12CurrentEntry.setDouble(pivotMotor.getOutputCurrent());
+        shooter12VoltageEntry.setDouble(pivotMotor.getBusVoltage());
+        shooter12TemperatureEntry.setDouble(pivotMotor.getMotorTemperature());
     }
 
     /** Sets the angle offset to a new value.