Motor Monitor

It would be desirable to know the status of each motor on the robot after each match. The V5 smart motors have the ability to provide this information. We just need to write a monitor code to make it visible to the user.

This should be a specific code just for this purpose that we run in between matches. It will give us the temperature of each motor as well as indicate any serious problems like disconnection or port failures.

Best if it was a graphical view with very clear indications like bright colors etc.

Sample Code

We have an example Pit Monitor Code on gitHub.

Display of motor information

double YOFFSET = 20; //offset for the display
//Writes a line for the diagnostics of a motor on the Brain
void MotorDisplay(double y, double curr, double temp)
{
  Brain.Screen.setFillColor(transparent);
  Brain.Screen.printAt(5, YOFFSET + y, "Current: %.1fA", curr);
  if (curr < 1)
    Brain.Screen.setFillColor(green);
  else if (curr >= 1 && curr  <= 2.5)
    Brain.Screen.setFillColor(yellow);
  else
    Brain.Screen.setFillColor(red);
  Brain.Screen.drawRectangle(140, YOFFSET + y - 15, 15, 15);

  Brain.Screen.setFillColor(transparent);
  Brain.Screen.printAt(160, YOFFSET + y, "Temp: %.1fC", temp);
  if (temp < 45)
    Brain.Screen.setFillColor(green);
  else if (temp <= 50 && temp  >= 45)
    // TRUE and TRUE --> True
    // TRUE and FALSE --> False
    // FALSE and FALSE --> False
    Brain.Screen.setFillColor(yellow);
  else
    Brain.Screen.setFillColor(red);
  Brain.Screen.drawRectangle(275, YOFFSET + y - 15, 15, 15);
  Brain.Screen.setFillColor(transparent);
}

//Displays information on the brain
void Display()
{
  double leftFrontCurr = LeftFront.current(amp);
  double leftFrontTemp = LeftFront.temperature(celsius);
  double leftBackCurr = LeftBack.current(amp);
  double leftBackTemp = LeftBack.temperature(celsius);
  double rightFrontCurr = RightFront.current(amp);
  double rightFrontTemp = RightFront.temperature(celsius);
  double rightBackCurr = RightBack.current(amp);
  double rightBackTemp = RightBack.temperature(celsius);

  if (LeftFront.installed())
  {
    MotorDisplay(1, leftFrontCurr, leftFrontTemp);
    Brain.Screen.printAt(300, YOFFSET + 1, "LeftFront");
  }
  else
    Brain.Screen.printAt(5, YOFFSET + 1, "LeftFront Problem");


  if (LeftBack.installed())
  {
    MotorDisplay(31, leftBackCurr, leftBackTemp);
    Brain.Screen.printAt(300, YOFFSET + 31, "LeftBack");
  }
  else
    Brain.Screen.printAt(5, YOFFSET + 31, "LeftBack Problem");

  if (RightFront.installed())
  {
    MotorDisplay(61, rightFrontCurr, rightFrontTemp);
    Brain.Screen.printAt(300, YOFFSET + 61, "RightFront");
  }
  else
    Brain.Screen.printAt(5, YOFFSET + 61, "RightFront Problem");


  if (RightBack.installed())
  {
    MotorDisplay(91, rightBackCurr, rightBackTemp);
    Brain.Screen.printAt(300, YOFFSET + 91, "RightBack");
  }
  else
    Brain.Screen.printAt(5, YOFFSET + 91, "RightBack Problem");

}