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Log per-module drive/turn voltage and current for sim identification #10

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Log per-module drive/turn voltage and current for sim identification #10

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76491bc
Log per-module drive/turn voltage and current for sim identification
AdamEXu Aug 9, 2026
dba26ad
Include wheel velocity in the coherent read and pin volts to the log …
AdamEXu Aug 15, 2026
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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/constant/swerve/SwerveConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,10 @@ public final class SwerveConstants {

public static final double kShootingSpeedMultiplier = 1.0;

/** Raises TalonFX status frame rates and costs CAN bandwidth; keep off at competition. */
public static final boolean kLogMotorTelemetry = false;
public static final double kMotorTelemetryHz = 50.0;

//////////////////////////////////////

public Translation2d rearLeftTranslation;
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49 changes: 49 additions & 0 deletions src/main/java/frc/robot/hardware/WheelMoverTalonFX.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import org.littletonrobotics.junction.Logger;

import com.ctre.phoenix6.BaseStatusSignal;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
Expand Down Expand Up @@ -38,6 +39,15 @@ public class WheelMoverTalonFX extends WheelMoverBase {

private CANcoder turnCANcoder;

private BaseStatusSignal driveVoltsSignal;
private BaseStatusSignal driveStatorSignal;
private BaseStatusSignal driveSupplySignal;
private BaseStatusSignal driveVelocitySignal;
private BaseStatusSignal turnVoltsSignal;
private BaseStatusSignal turnStatorSignal;
private BaseStatusSignal turnSupplySignal;
private BaseStatusSignal turnVelocitySignal;

public WheelMoverTalonFX(
int driveMotorChannel,
InvertedValue driveMotorReversed,
Expand Down Expand Up @@ -123,6 +133,24 @@ public WheelMoverTalonFX(

m_turnMotor.setPosition(
turnCANcoder.getAbsolutePosition().getValueAsDouble());

if (SwerveConstants.kLogMotorTelemetry) {
driveVoltsSignal = m_driveMotor.getMotorVoltage(false);
driveStatorSignal = m_driveMotor.getStatorCurrent(false);
driveSupplySignal = m_driveMotor.getSupplyCurrent(false);
driveVelocitySignal = m_driveMotor.getVelocity(false);
turnVoltsSignal = m_turnMotor.getMotorVoltage(false);
turnStatorSignal = m_turnMotor.getStatorCurrent(false);
turnSupplySignal = m_turnMotor.getSupplyCurrent(false);
turnVelocitySignal = m_turnMotor.getVelocity(false);

// Velocity is deliberately absent: it shares a frame with position, which odometry
// reads, and pinning it here would cap that frame at kMotorTelemetryHz.
BaseStatusSignal.setUpdateFrequencyForAll(
SwerveConstants.kMotorTelemetryHz,
driveVoltsSignal, driveStatorSignal, driveSupplySignal,
turnVoltsSignal, turnStatorSignal, turnSupplySignal);
}
}

@Override
Expand Down Expand Up @@ -238,6 +266,27 @@ private void logEverything(LinearVelocity requestedMps, Angle requestedAngle) {

Logger.recordOutput(base + "rawCurrentAngle", rawAngle);

if (SwerveConstants.kLogMotorTelemetry) {
BaseStatusSignal.refreshAll(
driveVoltsSignal, driveStatorSignal, driveSupplySignal, driveVelocitySignal,
turnVoltsSignal, turnStatorSignal, turnSupplySignal, turnVelocitySignal);

Logger.recordOutput(base + "driveAppliedVolts", driveVoltsSignal.getValueAsDouble());
Logger.recordOutput(base + "driveStatorAmps", driveStatorSignal.getValueAsDouble());
Logger.recordOutput(base + "driveSupplyAmps", driveSupplySignal.getValueAsDouble());
Logger.recordOutput(base + "driveVelocityRps", driveVelocitySignal.getValueAsDouble());
Logger.recordOutput(base + "driveVoltsFrameTimestamp", driveVoltsSignal.getTimestamp().getTime());
Logger.recordOutput(base + "driveAmpsFrameTimestamp", driveStatorSignal.getTimestamp().getTime());
Logger.recordOutput(base + "driveVelocityFrameTimestamp", driveVelocitySignal.getTimestamp().getTime());

Logger.recordOutput(base + "turnAppliedVolts", turnVoltsSignal.getValueAsDouble());
Logger.recordOutput(base + "turnStatorAmps", turnStatorSignal.getValueAsDouble());
Logger.recordOutput(base + "turnSupplyAmps", turnSupplySignal.getValueAsDouble());
Logger.recordOutput(base + "turnVelocityRps", turnVelocitySignal.getValueAsDouble());
Logger.recordOutput(base + "turnVoltsFrameTimestamp", turnVoltsSignal.getTimestamp().getTime());
Logger.recordOutput(base + "turnAmpsFrameTimestamp", turnStatorSignal.getTimestamp().getTime());
Logger.recordOutput(base + "turnVelocityFrameTimestamp", turnVelocitySignal.getTimestamp().getTime());
}
}

// ***********************************************************************************************
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