From 20a8c990aa40d85c11ebaa29a852b0b18d44db3e Mon Sep 17 00:00:00 2001
From: Alex Sirota <alex.sirota@icloud.com>
Date: Sun, 24 Mar 2024 11:46:53 -0700
Subject: [PATCH] Add alerts to PWMDutyCycleEncoder and SparkMax

---
 swervelib/encoders/PWMDutyCycleEncoderSwerve.java | 10 ++++++++++
 swervelib/motors/SparkMaxSwerve.java              | 10 +++++++++-
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/swervelib/encoders/PWMDutyCycleEncoderSwerve.java b/swervelib/encoders/PWMDutyCycleEncoderSwerve.java
index 24e15d6..9b52c5d 100644
--- a/swervelib/encoders/PWMDutyCycleEncoderSwerve.java
+++ b/swervelib/encoders/PWMDutyCycleEncoderSwerve.java
@@ -26,6 +26,10 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
    * An {@link Alert}  for if the encoder cannot report accurate velocities.
    */
   private       Alert            inaccurateVelocities;
+    /**
+   * An {@link Alert}  for if the encoder is disconnected.
+   */
+  private       Alert            disconnected;
 
   /**
    * Constructor for the PWM duty cycle encoder.
@@ -39,6 +43,10 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
         "Encoders",
         "The PWM Duty Cycle encoder may not report accurate velocities!",
         Alert.AlertType.WARNING_TRACE);
+    inaccurateVelocities = new Alert(
+        "Encoders",
+        "The swerve encoder on port " + pin + "is disconnected!",
+        Alert.AlertType.ERROR_TRACE);
 
   }
 
@@ -61,6 +69,7 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
   @Override
   public double getAbsolutePosition()
   {
+    disconnected.set(!encoder.isConnected());
     return (isInverted ? -1.0 : 1.0) * encoder.getAbsolutePosition() * 360;
   }
 
@@ -83,6 +92,7 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
   @Override
   public double getVelocity()
   {
+    disconnected.set(!encoder.isConnected());
     inaccurateVelocities.set(true);
     return encoder.get();
   }
diff --git a/swervelib/motors/SparkMaxSwerve.java b/swervelib/motors/SparkMaxSwerve.java
index aa19a0c..ced8a6e 100644
--- a/swervelib/motors/SparkMaxSwerve.java
+++ b/swervelib/motors/SparkMaxSwerve.java
@@ -52,6 +52,11 @@ public class SparkMaxSwerve extends SwerveMotor
    */
   private Supplier<Double>      position;
 
+  /**
+   * An {@link Alert} for if there is an error configuring the motor.
+   */
+  private Alert              failureConfiguringAlert;
+
   /**
    * Initialize the swerve motor.
    *
@@ -74,6 +79,9 @@ public class SparkMaxSwerve extends SwerveMotor
     position = encoder::getPosition;
     // Spin off configurations in a different thread.
     // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback.
+    failureConfiguringAlert = new Alert("Motors",
+                                        "Failure configuring motor " + motor.getDeviceId(),
+                                        Alert.AlertType.WARNING_TRACE);
   }
 
   /**
@@ -101,7 +109,7 @@ public class SparkMaxSwerve extends SwerveMotor
         return;
       }
     }
-    DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
+    failureConfiguringAlert.set(true);
   }
 
   /**