Class BatteryCheck

java.lang.Object

frc.spectrumLib.checks.BatteryCheck

All Implemented Interfaces:

Check

public final class BatteryCheck
extends Object
implements Check

The battery at rest is charged, and is not the one used in the last match.

Voltage: disabled, the robot draws only its controllers and coprocessors, so the reading is close to the pack's resting voltage. It must stay under a threshold for HOLD_SECONDS before it counts, so a mechanism moved by hand or a camera booting does not trip it.

The thresholds are for the voltage at the battery. Each controller reads it a little off, so the reading is corrected by the robot's calibration offset. A robot whose offset has not been measured warns at most on voltage: a FAIL there could be the controller, not the battery.

Same battery (6328 2024): when a match starts, the battery's ID is saved; at the next boot, the same ID means nobody swapped it. Needs a battery ID (an NFC tag reader); without one this part is skipped.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	BatteryCheck.Identity	The battery IDs this check compares, from logged inputs.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	FAIL_VOLTS	Below this at rest, a match's load will brown it out.
static final double	HOLD_SECONDS
static final double	WARN_VOLTS	A full pack reads 12.6-12.9 V disabled on FM's SystemCore (TXMAN1 pre-match, nine logs: lowest 12.57 V).

Constructor Summary

Constructors

Constructor	Description
BatteryCheck(DoubleSupplier volts, BooleanSupplier atRest, Supplier<BatteryCheck.Identity> identity)	A check on a reading that is already calibrated (offset 0).
BatteryCheck(DoubleSupplier volts, OptionalDouble offsetVolts, BooleanSupplier atRest, Supplier<BatteryCheck.Identity> identity)

Method Summary

Modifier and Type	Method	Description
CheckResult	evaluate(double now)	Judges the robot now.
void	observe(double now)	Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time.

Methods inherited from class Object

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

Field Details

WARN_VOLTS

public static final double WARN_VOLTS

A full pack reads 12.6-12.9 V disabled on FM's SystemCore (TXMAN1 pre-match, nine logs: lowest 12.57 V). Below this, it has been used.

See Also:

• Constant Field Values

FAIL_VOLTS

public static final double FAIL_VOLTS

Below this at rest, a match's load will brown it out.

See Also:

• Constant Field Values

HOLD_SECONDS

public static final double HOLD_SECONDS

See Also:

• Constant Field Values

Constructor Details

BatteryCheck

public BatteryCheck(DoubleSupplier volts,
 BooleanSupplier atRest,
 Supplier<BatteryCheck.Identity> identity)

A check on a reading that is already calibrated (offset 0).

Parameters:

volts - battery voltage, a logged input

atRest - whether the robot is disabled; sag while enabled is load, not charge

identity - the battery in the robot and the one in the last match; BatteryCheck.Identity.NONE without a reader

BatteryCheck

public BatteryCheck(DoubleSupplier volts,
 OptionalDouble offsetVolts,
 BooleanSupplier atRest,
 Supplier<BatteryCheck.Identity> identity)

Parameters:

volts - battery voltage as the controller reads it, a logged input

offsetVolts - added to the reading to give the voltage at the battery; empty when it has not been measured on this robot

atRest - whether the robot is disabled; sag while enabled is load, not charge

identity - the battery in the robot and the one in the last match; BatteryCheck.Identity.NONE without a reader

Method Details

observe

public void observe(double now)

Description copied from interface: Check

Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time. Keep it cheap.

Specified by:

observe in interface Check

Parameters:

now - this loop's robot time

evaluate

public CheckResult evaluate(double now)

Description copied from interface: Check

Judges the robot now. Called only while disabled, and not every loop: PreMatchChecks spreads the checks across loops.

Specified by:

evaluate in interface Check

Parameters:

now - this loop's robot time

Returns:

the verdict