Fix MonitoredSubsystem but its still broken

team401 · Oct 9, 2024 · c65c310 · c65c310
1 parent fccb2ed
commit c65c310
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Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/wpi_interface/build.gradle b/wpi_interface/build.gradle
@@ -18,6 +18,7 @@ def includeDesktopSupport = true
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+	implementation project(":monitors")
 	implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.3.2'
 	implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.3.2'
 

diff --git a/wpi_interface/src/main/java/coppercore/wpi_interface/MonitoredSubsystem.java b/wpi_interface/src/main/java/coppercore/wpi_interface/MonitoredSubsystem.java
@@ -1,9 +1,11 @@
 package coppercore.wpi_interface;
 
 import coppercore.monitors.Monitor;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import java.util.ArrayList;
 import java.util.List;
+import org.littletonrobotics.junction.Logger;
 
 public class MonitoredSubsystem extends SubsystemBase {
     private List<Monitor> registeredMonitors = new ArrayList<Monitor>();
@@ -34,7 +36,13 @@ public void monitoredPeriodic() {}
     private void runMonitors() {
         registeredMonitors.forEach(
                 monitor -> {
-                    monitor.periodic();
+                    monitor.periodic(Timer.getFPGATimestamp());
+
+                    // TODO: Move logging to MonitoredSubsystem under wpi interface
+                    Logger.recordOutput(
+                            "monitors/" + monitor.getName() + "/triggered", monitor.isTriggered());
+                    Logger.recordOutput(
+                            "monitors/" + monitor.getName() + "/faulted", monitor.isFaulted());
                 });
     }
 }