org.usfirst.frc.team1736.lib.MotorCurrentEstimators

Class MotorDiagnostic

java.lang.Object

org.usfirst.frc.team1736.lib.MotorCurrentEstimators.MotorDiagnostic

public class MotorDiagnostic
extends java.lang.Object

DESCRIPTION:
Class for detecting various motor failure modes, empowering the user to take proper action.

USAGE:

1. Instantiate Class
2. Set global tune values away from defaults if desired
3. Call MotorDiagnostic method during periodic loop
4. Read diagnostic status variables and take appropriate actions

Field Summary

Fields

Modifier and Type	Field and Description
int	CommandDbnc_loops Minimum number of loops above the command threshold to ensure the motor should be rotating
double	CommandThresh Minimum command to ensure the motor should be rotating
int	MaxCurrentDbnc_loops Minimum time above current threshold before declaring the motor "over-current"
double	MaxCurrentThresh_A Maximum current the motor should draw in steady-state
double	MinCurrentThresh_A Minimum current the motor should draw in steady-state
boolean	motorOverCurrent OverCurrent diagnostic indicates we are commanding the motor to turn, but there is too much current being drawn.
boolean	motorSpeedLost SpeedLost diagnostic indicates rotation is commanded, current draw is above minimum and below maximum, but no speed is seen at the sensor.
boolean	motorStalled Stalled diagnostic indicates motor should be turning, is not, and is drawing too much current.
int	SpeedDbnc_loops Minimum number of loops above the speed threshold to declare the motor "rotating"
double	SpeedThresh_RPM Minimum speed to declare the motor "rotating"

Constructor Summary

Constructors

Constructor and Description
MotorDiagnostic() Constructor

Method Summary

Modifier and Type	Method and Description
void	eval(double motorSpeed_RPM, double currentDraw_A, double motorCommand) Call once per periodic loop to determine motor state

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

motorStalled

public boolean motorStalled

Stalled diagnostic indicates motor should be turning, is not, and is drawing too much current.

motorOverCurrent

public boolean motorOverCurrent

OverCurrent diagnostic indicates we are commanding the motor to turn, but there is too much current being drawn.

motorSpeedLost

public boolean motorSpeedLost

SpeedLost diagnostic indicates rotation is commanded, current draw is above minimum and below maximum, but no speed is seen at the sensor.

SpeedThresh_RPM

public double SpeedThresh_RPM

Minimum speed to declare the motor "rotating"

SpeedDbnc_loops

public int SpeedDbnc_loops

Minimum number of loops above the speed threshold to declare the motor "rotating"

CommandThresh

public double CommandThresh

Minimum command to ensure the motor should be rotating

CommandDbnc_loops

public int CommandDbnc_loops

Minimum number of loops above the command threshold to ensure the motor should be rotating

MaxCurrentThresh_A

public double MaxCurrentThresh_A

Maximum current the motor should draw in steady-state

MaxCurrentDbnc_loops

public int MaxCurrentDbnc_loops

Minimum time above current threshold before declaring the motor "over-current"

MinCurrentThresh_A

public double MinCurrentThresh_A

Minimum current the motor should draw in steady-state

Constructor Detail

MotorDiagnostic

public MotorDiagnostic()

Constructor

Method Detail

eval

public void eval(double motorSpeed_RPM,
                 double currentDraw_A,
                 double motorCommand)

Call once per periodic loop to determine motor state

Parameters:

motorSpeed_RPM - The motor's speed in RPM as measured by the encoders

currentDraw_A - The motor's present current draw (estimated or measured)

motorCommand - The present motor command (from the joystick or otherise, whatever is sent to the controller)