fix #37

Author: CoolSpy3

…va/org/carlmontrobotics/MotorConfig.java …carlmontrobotics/lib199/MotorConfig.javasrc/main/java/org/carlmontrobotics/MotorConfig.java renamed to src/main/java/org/carlmontrobotics/lib199/MotorConfig.java src/main/java/org/carlmontrobotics/MotorConfig.java renamed to src/main/java/org/carlmontrobotics/lib199/MotorConfig.java

@@ -1,4 +1,4 @@
-package org.carlmontrobotics;
+package org.carlmontrobotics.lib199;
 
 public class MotorConfig {
 

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

@@ -17,7 +17,6 @@
 import com.revrobotics.CANSparkMaxLowLevel;
 import com.revrobotics.SparkMaxPIDController;
 
-import org.carlmontrobotics.MotorConfig;
 import org.carlmontrobotics.lib199.sim.MockSparkMax;
 import org.carlmontrobotics.lib199.sim.MockTalonSRX;
 import org.carlmontrobotics.lib199.sim.MockVictorSPX;

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

@@ -1,6 +1,5 @@
 package org.carlmontrobotics.lib199;
 
-import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
 
@@ -117,14 +116,25 @@ public static void reportSparkMaxTemp(CANSparkMax spark, int temperatureLimit) {
     public static void doReportSparkMaxTemp() {
         temperatureSparks.forEach((port, spark) -> {
             double temp = spark.getMotorTemperature();
+            double limit = sparkTemperatureLimits.get(port);
+            int numTrips = overheatedSparks.get(port);
             SmartDashboard.putNumber("Port " + port + " Spark Max Temp", temp);
+
+            if(temp > limit) {
+                if(numTrips < kOverheatTripCount) {
+                    overheatedSparks.put(port, ++numTrips);
+                }
+            } else {
+                overheatedSparks.put(port, 0);
+            }
+
             // 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 >= sparkTemperatureLimits.get(port) || overheatedSparks.get(port) >= kOverheatTripCount) {
-                if(overheatedSparks.get(port) < kOverheatTripCount + 1) {
+            if(numTrips >= kOverheatTripCount) {
+                if(numTrips < kOverheatTripCount + 1) {
                     overheatedSparks.put(port, kOverheatTripCount + 1);
                     System.err.println("Port " + port + " spark max is operating at " + temp + " degrees Celsius! It will be disabled until the robot code is restarted.");
                 }
-                // spark.setSmartCurrentLimit(1);
+                spark.setSmartCurrentLimit(1);
             }
         });
     }

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

@@ -174,7 +174,7 @@ private double calculateAntiGravitationalA(Float gyroPitchDeg, Float gyroRollDeg
         double g = 9.81; //meters per second squared
         // gravitationalA is estimated to work for small angles, not 100% accurate at large angles
         double antiGravitationalA = g * (modulePitchComponent * Math.sin(Math.PI * gyroPitchDeg / 180) - moduleRollComponent * Math.sin(Math.PI * gyroRollDeg / 180));
-        SmartDashboard.putNumber("AntiGravitational accelration", antiGravitationalA);
+        SmartDashboard.putNumber("AntiGravitational acceleration", antiGravitationalA);
         return antiGravitationalA;
     }
     /**

src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java

@@ -2,7 +2,6 @@
 
 import static org.junit.Assert.assertEquals;
 
-import org.carlmontrobotics.MotorConfig;
 import org.carlmontrobotics.lib199.testUtils.ErrStreamTest;
 import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
 import org.junit.ClassRule;

src/test/java/org/carlmontrobotics/lib199/MotorErrorsTest.java

@@ -2,6 +2,7 @@
 
 import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertNotEquals;
+import static org.junit.Assert.assertTrue;
 
 import com.ctre.phoenix.ErrorCode;
 import com.revrobotics.REVLibError;
@@ -45,7 +46,7 @@ public static interface TemperatureSparkMax {
 
         public static class Instance {
 
-            private int smartCurrentLimit = 50;
+            private int smartCurrentLimit = MotorConfig.NEO.currentLimit;
             private double temperature = 30;
             private final int id;
 
@@ -155,40 +156,65 @@ public void testDummySparkMax() {
 
     @Test
     public void testReportSparkMaxTemp() {
-        if(true) return;
+        assertTrue(MotorErrors.kOverheatTripCount > 0);
+
         doTestReportSparkMaxTemp(0);
         doTestReportSparkMaxTemp(1);
         doTestReportSparkMaxTemp(2);
     }
 
     private void doTestReportSparkMaxTemp(int id) {
         TemperatureSparkMax spark = (TemperatureSparkMax)Mocks.createMock(CANSparkMax.class, new TemperatureSparkMax.Instance(id), TemperatureSparkMax.class);
+        String smartDashboardKey = "Port " + id + " Spark Max Temp";
         MotorErrors.reportSparkMaxTemp((CANSparkMax)spark, 40);
         spark.setSmartCurrentLimit(50);
+
         spark.setTemperature(20);
         CommandScheduler.getInstance().run();
-        String smartDashboardKey = "Port " + id + " Spark Max Temp";
         assertEquals(20, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
         assertEquals(50, spark.getSmartCurrentLimit());
+
         spark.setTemperature(20);
         CommandScheduler.getInstance().run();
         assertEquals(20, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
         assertEquals(50, spark.getSmartCurrentLimit());
+
+        if(MotorErrors.kOverheatTripCount > 1) {
+            spark.setTemperature(51);
+            CommandScheduler.getInstance().run();
+            assertEquals(51, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
+            assertEquals(50, spark.getSmartCurrentLimit());
+
+            spark.setTemperature(20);
+            CommandScheduler.getInstance().run();
+            assertEquals(20, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
+            assertEquals(50, spark.getSmartCurrentLimit());
+        }
+
         assertEquals(0, errStream.size());
-        spark.setTemperature(40);
-        CommandScheduler.getInstance().run();
-        assertEquals(40, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
-        assertEquals(1, spark.getSmartCurrentLimit());
+
+        for(int i = 0; i < MotorErrors.kOverheatTripCount; i++) {
+            assertEquals(50, spark.getSmartCurrentLimit());
+            assertEquals(0, errStream.size());
+
+            spark.setTemperature(51);
+            CommandScheduler.getInstance().run();
+            assertEquals(51, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
+        }
+
         assertNotEquals(0, errStream.size());
         errStream.reset();
-        spark.setTemperature(50);
+
+        spark.setTemperature(51);
         CommandScheduler.getInstance().run();
-        assertEquals(50, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
+        assertEquals(51, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
         assertEquals(1, spark.getSmartCurrentLimit());
+
         spark.setTemperature(20);
         CommandScheduler.getInstance().run();
         assertEquals(20, SmartDashboard.getNumber(smartDashboardKey, 0), 0.01);
         assertEquals(1, spark.getSmartCurrentLimit());
+
         assertEquals(0, errStream.size());
     }