add different temperature limits for NEOs and NEO 550s

Author: CoolSpy3

src/main/java/frc/robot/lib/MotorControllerFactory.java

@@ -17,6 +17,7 @@
 import com.revrobotics.SparkMaxPIDController;
 
 import edu.wpi.first.wpilibj.RobotBase;
+import frc.robot.lib.MotorErrors.TemperatureLimit;
 import frc.robot.lib.sim.MockSparkMax;
 import frc.robot.lib.sim.MockTalonSRX;
 import frc.robot.lib.sim.MockVictorSPX;
@@ -71,7 +72,11 @@ public static WPI_TalonSRX createTalon(int id) {
 
   //checks for spark max errors
 
-  public static CANSparkMax createSparkMax(int id) {
+  public static CANSparkMax createSparkMax(int id, TemperatureLimit temperatureLimit) {
+    return createSparkMax(id, temperatureLimit.limit);
+  }
+
+  public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
     CANSparkMax spark;
     if (RobotBase.isReal()) {
       spark = new CachedSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
@@ -84,7 +89,7 @@ public static CANSparkMax createSparkMax(int id) {
         spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
     }
 
-    MotorErrors.reportSparkMaxTemp(spark);
+    MotorErrors.reportSparkMaxTemp(spark, temperatureLimit);
 
     MotorErrors.reportError(spark.restoreFactoryDefaults());
     MotorErrors.reportError(spark.follow(ExternalFollower.kFollowerDisabled, 0));

src/main/java/frc/robot/lib/MotorErrors.java

@@ -14,6 +14,7 @@
 public final class MotorErrors {
 
     private static final HashMap<Integer, CANSparkMax> temperatureSparks = new HashMap<>();
+    private static final HashMap<Integer, Integer> sparkTemperatureLimits = new HashMap<>();
     private static final ArrayList<Integer> overheatedSparks = new ArrayList<>();
     private static final HashMap<CANSparkMax, Short> flags = new HashMap<>();
     private static final HashMap<CANSparkMax, Short> stickyFlags = new HashMap<>();
@@ -29,7 +30,7 @@ public static void reportError(ErrorCode error) {
     public static void reportError(REVLibError error) {
         reportError("REV Robotics", error, REVLibError.kOk);
     }
-    
+
     public static void reportErrors(ErrorCode... errors) {
         for(ErrorCode error: errors) {
             reportError(error);
@@ -52,8 +53,7 @@ private static <T extends Enum<T>> void reportError(String vendor, T error, T ok
         System.err.println(Arrays.toString(stack));
     }
 
-    
-    public static void checkSparkMaxErrors(CANSparkMax spark) {     
+    public static void checkSparkMaxErrors(CANSparkMax spark) {
         //Purposely obivously impersonal to differentiate from actual computer generated errors
         short faults = spark.getFaults();
         short stickyFaults = spark.getStickyFaults();
@@ -99,17 +99,22 @@ public static CANSparkMax createDummySparkMax() {
         return DummySparkMaxAnswer.DUMMY_SPARK_MAX;
     }
 
-    public static void reportSparkMaxTemp(CANSparkMax spark) {
+    public static void reportSparkMaxTemp(CANSparkMax spark, TemperatureLimit temperatureLimit) {
+        reportSparkMaxTemp(spark, temperatureLimit.limit);
+    }
+
+    public static void reportSparkMaxTemp(CANSparkMax spark, int temperatureLimit) {
         int id = spark.getDeviceId();
         temperatureSparks.put(id, spark);
+        sparkTemperatureLimits.put(id, temperatureLimit);
     }
 
     public static void doReportSparkMaxTemp() {
         temperatureSparks.forEach((port, spark) -> {
             double temp = spark.getMotorTemperature();
             SmartDashboard.putNumber("Port " + port + " Spark Max Temp", temp);
             // Check if temperature exceeds the setpoint or if the contoller has already overheated to prevent other code from resetting the current limit after the controller has cooled
-            if(temp >= 100 || overheatedSparks.contains(port)) {
+            if(temp >= sparkTemperatureLimits.get(port) || overheatedSparks.contains(port)) {
                 if(!overheatedSparks.contains(port)) {
                     overheatedSparks.add(port);
                     System.err.println("Port " + port + " spark max is operating at " + temp + " degrees Celsius! It will be disabled until the robot code is restarted.");
@@ -121,4 +126,14 @@ public static void doReportSparkMaxTemp() {
 
     private MotorErrors() {}
 
+    public static enum TemperatureLimit {
+        NEO(70), NEO_550(40);
+
+        public final int limit;
+
+        private TemperatureLimit(int limit) {
+            this.limit = limit;
+        }
+    }
+
 }

src/test/java/frc/robot/lib/MotorControllerFactoryTest.java

@@ -22,7 +22,7 @@ public void testCreateNoErrors() throws Exception {
         // Call close to free PWM ports
         ((AutoCloseable)MotorControllerFactory.createTalon(0)).close();
         ((AutoCloseable)MotorControllerFactory.createVictor(1)).close();
-        MotorControllerFactory.createSparkMax(2);
+        MotorControllerFactory.createSparkMax(2, 40);
         assertEquals(0, errStream.toByteArray().length);
     }
 

src/test/java/frc/robot/lib/MotorErrorsTest.java

@@ -162,7 +162,7 @@ public void testReportSparkMaxTemp() {
 
     private void doTestReportSparkMaxTemp(int id) {
         TemperatureSparkMax spark = (TemperatureSparkMax)Mocks.createMock(CANSparkMax.class, new TemperatureSparkMax.Instance(id), TemperatureSparkMax.class);
-        MotorErrors.reportSparkMaxTemp((CANSparkMax)spark);
+        MotorErrors.reportSparkMaxTemp((CANSparkMax)spark, 40);
         spark.setSmartCurrentLimit(50);
         spark.setTemperature(20);
         CommandScheduler.getInstance().run();