log grabber applied voltage and bus voltage

FRC3476 · Apr 16, 2023 · 07316d8 · 07316d8
1 parent f6a758c
commit 07316d8
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diff --git a/src/main/java/frc/subsytem/grabber/GrabberIO.java b/src/main/java/frc/subsytem/grabber/GrabberIO.java
@@ -19,6 +19,9 @@ public static class GrabberInputs {
         double grabberCurrent = 0.0;
         double grabberTemp = 0.0;
         double grabberVoltage = 0.0;
+        double grabberAppliedOutput = 0.0;
+        double grabberBusVoltage = 0.0;
+
 
         double rollerMainPosition = 0.0;
         double rollerMainVelocity = 0.0;

diff --git a/src/main/java/frc/subsytem/grabber/GrabberIOSparkMax.java b/src/main/java/frc/subsytem/grabber/GrabberIOSparkMax.java
@@ -109,6 +109,9 @@ public synchronized void updateInputs(GrabberInputsAutoLogged inputs) {
         inputs.grabberCurrent = grabberSparkMax.getOutputCurrent();
         inputs.grabberTemp = grabberSparkMax.getMotorTemperature();
         inputs.grabberVoltage = grabberSparkMax.getAppliedOutput() * grabberSparkMax.getBusVoltage();
+        inputs.grabberAppliedOutput = grabberSparkMax.getAppliedOutput();
+        inputs.grabberBusVoltage = grabberSparkMax.getBusVoltage();
+
         if (USE_GRABBER_ENCODER) {
             assert grabberAbsoluteEncoder != null;
             inputs.grabberAbsolutePosition = grabberAbsoluteEncoder.getPosition() - 180; // Closed is 180 to avoid wrapping issues