Updated the isVoltageClose method for every subsystem

Author: ipad6202

src/main/java/frc/robot/subsystems/groundIntake/GroundIntake.java

@@ -1,6 +1,7 @@
 package frc.robot.subsystems.groundIntake;
 
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
+import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 
@@ -48,13 +49,10 @@ public void periodic() {
         Logger.recordOutput("GroundIntake/GIntakeMotorConnected", inputs.velocityRadsPerSec != 0);
     }
 
-     //Check if the actual voltage is close to the desired voltage
-    public boolean isVoltageClose(double setVoltage, double tolerance) {
-        // Calculate the absolute difference between the desired and applied voltages
+    @AutoLogOutput(key = "GroundIntake/Close")
+    public boolean isVoltageClose(double setVoltage) {
         double voltageDifference = Math.abs(setVoltage - inputs.appliedVoltage);
-        
-        // Check if the absolute difference is within the tolerance
-        return voltageDifference <= tolerance;
+        return voltageDifference <= GroundIntakeConstants.GROUND_INTAKE_TOLERANCE;
     }
 
     public void setVoltage(double voltage) {
@@ -63,8 +61,7 @@ public void setVoltage(double voltage) {
         } else {
             io.setVoltage(voltage);
         }
-
-        Logger.recordOutput('GroundIntake/Close', isVoltageClose(voltage, 1));
+        isVoltageClose(voltage);
     }
 
     public void setBrake(boolean brake) {

src/main/java/frc/robot/subsystems/groundIntake/GroundIntakeConstants.java

@@ -25,4 +25,5 @@ public static class GroundIntakePhysicalConstants {
     public static final double GROUND_INTAKE_IN_VOLTAGE = 9.2;
     public static final double GROUND_INTAKE_WEAK_IN_VOLTAGE = 4.5;
     public static final double GROUND_INTAKE_OUT_VOLTAGE = -9;
+    public static final double GROUND_INTAKE_TOLERANCE = 1;
   }

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -1,6 +1,7 @@
 package frc.robot.subsystems.indexer;
 
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
+import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 
@@ -43,13 +44,10 @@ public Indexer (IndexerIO io) {
         logD = new LoggedDashboardNumber("Intake/D", io.getD());
     }
 
-         //Check if the actual voltage is close to the desired voltage
-    public boolean isVoltageClose(double setVoltage, double tolerance) {
-        // Calculate the absolute difference between the desired and applied voltages
+    @AutoLogOutput(key = "Indexer/Close")
+    public boolean isVoltageClose(double setVoltage) {
         double voltageDifference = Math.abs(setVoltage - inputs.appliedVoltage);
-        
-        // Check if the absolute difference is within the tolerance
-        return voltageDifference <= tolerance;
+        return voltageDifference <= IndexerConstants.INDEXER_TOLERANCE;
     }
 
     public void periodic() {
@@ -105,7 +103,7 @@ public void setVoltage(double voltage) {
         } else {
             io.setVoltage(voltage);
         }
-         Logger.recordOutput('Indexer/Close', isVoltageClose(voltage, 1));
+        isVoltageClose(voltage);
     }
 
     public void setBrake(boolean brake) {

src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java

@@ -40,6 +40,7 @@ public static class IndexerPhysicalConstants {
   public static final double INDEXER_IN_VOLTAGE = 8;
   public static final double INDEXER_IN_VOLTAGE_WEAK = 4.2;
   public static final double INDEXER_OUT_VOLTAGE = -2;
+  public static final double INDEXER_TOLERANCE = 1;
 
   public static final double SHOOTER_UNJAM_TIME = 0.2;
 

src/main/java/frc/robot/subsystems/pivotArm/PivotArm.java

@@ -1,5 +1,7 @@
 package frc.robot.subsystems.pivotArm;
 
+import frc.robot.subsystems.pivotArm.PivotArmConstants;
+
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.units.Units.Volts;
@@ -9,6 +11,7 @@
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
@@ -134,13 +137,10 @@ public void setBrake(boolean brake) {
         io.setBrake(brake);
     }
 
-         //Check if the actual voltage is close to the desired voltage
-    public boolean isVoltageClose(double setVoltage, double tolerance) {
-        // Calculate the absolute difference between the desired and applied voltages
-        double voltageDifference = Math.abs(setVoltage - inputs.appliedVoltage);
-        
-        // Check if the absolute difference is within the tolerance
-        return voltageDifference <= tolerance;
+    @AutoLogOutput(key = "PivotArm/Close")
+    public boolean isVoltageClose(double setVoltage) {
+        double voltageDifference = Math.abs(setVoltage - inputs.appliedVolts);
+        return voltageDifference <= PivotArmConstants.PIVOT_ARM_TOLERANCE;
     }
 
     public void setVoltage(double motorVolts) {
@@ -156,7 +156,7 @@ public void setVoltage(double motorVolts) {
         } else {
             io.setVoltage(motorVolts);
         }
-        Logger.recordOutput('PivotArm/Close', isVoltageClose(voltage, 1));
+        isVoltageClose(motorVolts);
     }
 
     public void move(double speed) {

src/main/java/frc/robot/subsystems/pivotArm/PivotArmConstants.java

@@ -31,6 +31,7 @@ public class PivotArmConstants {
 
   public static final double RAMP_RATE = 0.5;
   public static final double STEP_VOLTAGE = 3.0;
+  public static final double PIVOT_ARM_TOLERANCE = 1.0;
 
   public static class PivotArmSimConstants {
     public static final double[] kPivotSimPID = { 15, 0, 0, 0 };

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -11,6 +11,7 @@
 
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.LoggedDashboardBoolean;
 
 import static frc.robot.subsystems.shooter.ShooterConstants.*;
 
@@ -60,13 +61,17 @@ public Shooter(ShooterIO io) {
     shooterIO.setRightPID(rightkP.get(), rightkI.get(), rightkD.get());
   }
 
-         //Check if the actual voltage is close to the desired voltage
-    public boolean isVoltageClose(double setVoltage, double tolerance) {
-        // Calculate the absolute difference between the desired and applied voltages
-        double voltageDifference = Math.abs(setVoltage - inputs.appliedVoltage);
-        
-        // Check if the absolute difference is within the tolerance
-        return voltageDifference <= tolerance;
+  @AutoLogOutput(key = "Shooter/CloseRight")
+  public boolean isVoltageRightClose(double setVoltage) {
+    double voltageDifference = Math.abs(setVoltage - shooterInputs.rightFlywheelAppliedVolts);
+    return voltageDifference <= SHOOTER_TOLERANCE;
+  }
+
+  @AutoLogOutput(key = "Shooter/CloseLeft")
+  public boolean isVoltageLeftClose(double setVoltage) {
+    double voltageDifference = Math.abs(setVoltage - shooterInputs.leftFlywheelAppliedVolts);
+    return voltageDifference <= SHOOTER_TOLERANCE;
+  }
 
 
   @Override
@@ -183,8 +188,8 @@ public void setVoltage(DoubleSupplier leftVoltage, DoubleSupplier rightVoltage){
     } else {
         shooterIO.setVoltage(leftMotorVoltage, rightMotorVoltage);
     }
-  }
-        Logger.recordOutput('Shooter/Close', isVoltageClose(voltage, 1));
+    isVoltageLeftClose(leftVoltage.getAsDouble());
+    isVoltageRightClose(rightVoltage.getAsDouble());
   }
 
   public void setVoltage(double volts){

src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java

@@ -7,6 +7,7 @@ public class ShooterConstants {
   public static final double SHOOTER_UNJAM_VOLTAGE = -0.5;
 
   public static final double SHOOTER_FULL_VOLTAGE = 11;
+  public static final double SHOOTER_TOLERANCE = 1.0;
 
   public static class ShooterSimConstants {
     public static final double RIGHT_MOTOR_MIN_SPEED = 0;