For each subsystem, add a current, temperature, and voltage field to the Inputs class for each motor. For example, when we have a left and right motor, there should be six new fields: leftCurrent, rightCurrent, etc.
The current readings should be measured in Amps, and can be gotten with the motor.getOutputCurrent method. The current readings should be measured in Celsius and can be gotten with the motor.getMotorTemperature method.
The voltage readings should represent the voltage the motor is running at rather than the voltage we command it to. To get that value, use the motor.getBusVoltage to measure the max voltage the motor could be running at, and multiply it by motor.get to get the percent of max power the motor is running at.
For each subsystem, add a
current,temperature, andvoltagefield to theInputsclass for each motor. For example, when we have a left and right motor, there should be six new fields:leftCurrent,rightCurrent, etc.The current readings should be measured in Amps, and can be gotten with the
motor.getOutputCurrentmethod. The current readings should be measured in Celsius and can be gotten with themotor.getMotorTemperaturemethod.The voltage readings should represent the voltage the motor is running at rather than the voltage we command it to. To get that value, use the
motor.getBusVoltageto measure the max voltage the motor could be running at, and multiply it bymotor.getto get the percent of max power the motor is running at.