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diags #55

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c409d87
initial commit for diags
Mobby42 Feb 16, 2026
b1ab3e5
fixed diags
Mobby42 Feb 16, 2026
cdff0a0
Merge branch 'main' of https://github.com/FRC4048/Java_2026 into JK_d…
Mobby42 Feb 16, 2026
e63c26c
fixed diags again
Mobby42 Feb 16, 2026
a9d22c3
fixed a few things
Mobby42 Feb 17, 2026
033bac6
Merge branch 'main' of https://github.com/FRC4048/Java_2026 into JK_d…
Mobby42 Feb 17, 2026
4626b17
added diags to turret
Mobby42 Feb 17, 2026
f235cbc
fixed can id
Mobby42 Feb 17, 2026
b98aca9
added diags to elastic
Mobby42 Feb 17, 2026
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1,203 changes: 1,203 additions & 0 deletions elastic_layouts/elastic-4048-2026-dev-v1.1.json
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/constants/Constants2026.java
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Expand Up @@ -15,7 +15,7 @@ public class Constants2026 extends GameConstants {
public static final int SHOOTER_MOTOR_ID = 54;
public static final int SHOOTER_FOLLOWER_MOTOR_ID = 53;
public static final int INTAKE_DEPLOYMENT_ID = 9;
public static final int TURRET_MOTOR_ID = 9;
public static final int TURRET_MOTOR_ID = 11;

public static final double DRIVE_BASE_WIDTH = 0.635;
public static final double DRIVE_BASE_LENGTH = 0.635;
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/constants/GameConstants.java
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Expand Up @@ -58,6 +58,14 @@ public enum Mode {
public static final double INITIAL_INTAKE_RETRACTION_SPEED = -10;


//Diags
public static final double HOPPER_DIAGS_ENCODER = 1;
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@batchen1 batchen1 Feb 20, 2026

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should we add encoder diag for turret, angler, intakeDeployer?

public static final double INTAKE_ROLLER_DIAGS_ENCODER = 1;
public static final double FEEDER_DIAGS_ENCODER = 1;
public static final double CLIMBER_DIAGS_ENCODER = 1;
public static final double SHOOTER_DIAGS_ENCODER = 1;
public static final double GYRO_DIAGS_ANGLE = 30;

//Timeouts
public static final double SPIN_TIMEOUT = 5;
public static final double TILT_TIMEOUT = 5;
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20 changes: 19 additions & 1 deletion src/main/java/frc/robot/subsystems/AnglerSubsystem.java
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Expand Up @@ -9,7 +9,11 @@

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.constants.Constants;
import frc.robot.constants.Constants2026;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxSwitch;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.pidmotor.MockSparkMaxPidMotorIo;
import frc.robot.utils.logging.io.pidmotor.RealSparkMaxPidMotorIo;
Expand All @@ -32,6 +36,7 @@ public class AnglerSubsystem extends SubsystemBase {
public AnglerSubsystem(SparkMaxPidMotorIo io) {
this.io = io;
this.pidManager = new TunablePIDManager(LOGGING_NAME, io, createPidConfig());

}

@Override
Expand Down Expand Up @@ -113,7 +118,20 @@ public static SparkMaxPidMotorIo createMockIo() {
}

public static SparkMaxPidMotorIo createRealIo() {
return new RealSparkMaxPidMotorIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());

SparkMaxPidMotor motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxSwitch(
"Angler", "ForwardLimit", motor.getNeoMotor(), DiagSparkMaxSwitch.Direction.FORWARD));

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxSwitch(
"Angler", "ReverseLimit", motor.getNeoMotor(), DiagSparkMaxSwitch.Direction.REVERSE));

return new RealSparkMaxPidMotorIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxPidMotorIo createSimIo(RobotVisualizer visualizer) {
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12 changes: 11 additions & 1 deletion src/main/java/frc/robot/subsystems/ClimberSubsystem.java
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Expand Up @@ -9,7 +9,10 @@

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.constants.Constants;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxEncoder;
import frc.robot.utils.logging.input.DigitalInputLoggableInputs;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.DigitalInputIo;
Expand Down Expand Up @@ -50,7 +53,14 @@ public static SparkMaxIo createMockIo() {
}

public static SparkMaxIo createRealIo() {
return new RealSparkMaxIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());
SparkMax motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxEncoder(
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@batchen1 batchen1 Feb 20, 2026

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add limit switches to climber. Top and Bottom.

"Climber", "Encoder", GameConstants.CLIMBER_DIAGS_ENCODER, motor));

return new RealSparkMaxIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
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12 changes: 11 additions & 1 deletion src/main/java/frc/robot/subsystems/FeederSubsystem.java
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Expand Up @@ -9,8 +9,11 @@

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.commands.intake.SpinIntake;
import frc.robot.constants.Constants;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxEncoder;
import frc.robot.utils.logging.input.DigitalInputLoggableInputs;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.DigitalInputIo;
Expand Down Expand Up @@ -51,7 +54,14 @@ public static SparkMaxIo createMockIo() {
}

public static SparkMaxIo createRealIo() {
return new RealSparkMaxIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());
SparkMax motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxEncoder(
"Feeder", "Encoder", GameConstants.FEEDER_DIAGS_ENCODER, motor));

return new RealSparkMaxIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/subsystems/GyroSubsystem.java
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@@ -1,10 +1,14 @@
package frc.robot.subsystems;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagGyro;
import frc.robot.utils.logging.input.GyroValues;
import frc.robot.utils.logging.io.gyro.GyroIo;
import frc.robot.utils.logging.io.gyro.MockGyroIo;
import frc.robot.utils.logging.io.gyro.RealGyroIo;
import frc.robot.utils.logging.io.gyro.ThreadedGyro;
import frc.robot.utils.simulation.RobotVisualizer;

public class GyroSubsystem extends SubsystemBase {
Expand Down Expand Up @@ -37,7 +41,11 @@ public static GyroIo createMockIo() {

public static GyroIo createRealIo() {
RealGyroIo realGyroIo = new RealGyroIo();
ThreadedGyro gyro = realGyroIo.getThreadedGyro();
realGyroIo.start();
Robot.getDiagnostics()
.addDiagnosable(new DiagGyro("Gyro", "Gyro Angle", GameConstants.GYRO_DIAGS_ANGLE, gyro));

return realGyroIo;
}

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13 changes: 12 additions & 1 deletion src/main/java/frc/robot/subsystems/HopperSubsystem.java
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Expand Up @@ -8,7 +8,10 @@
import com.revrobotics.spark.config.SparkMaxConfig;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.constants.Constants;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxEncoder;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.MockSparkMaxIo;
import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
Expand Down Expand Up @@ -50,7 +53,15 @@ public static SparkMaxIo createMockIo() {
}

public static SparkMaxIo createRealIo() {
return new RealSparkMaxIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());

SparkMax motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxEncoder(
"Hopper", "Encoder", GameConstants.HOPPER_DIAGS_ENCODER, motor));

return new RealSparkMaxIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
Expand Down
18 changes: 17 additions & 1 deletion src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java
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Expand Up @@ -12,9 +12,12 @@
import com.revrobotics.spark.config.SparkMaxConfig;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.commands.intakeDeployment.RunDeployer;
import frc.robot.constants.Constants;
import frc.robot.constants.enums.DeploymentState;
import frc.robot.utils.diag.DiagSparkMaxSwitch;
import frc.robot.utils.diag.DiagSparkMaxSwitch.Direction;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.MockSparkMaxIo;
import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
Expand Down Expand Up @@ -51,7 +54,20 @@ public static SparkMaxIo createMockIo() {
}

public static SparkMaxIo createRealIo() {
return new RealSparkMaxIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());

SparkMax motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxSwitch(
"Intake Deployer", "ForwardLimit", motor, DiagSparkMaxSwitch.Direction.FORWARD));

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxSwitch(
"Intake Deployer", "ReverseLimit", motor, DiagSparkMaxSwitch.Direction.REVERSE));

return new RealSparkMaxIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
Expand Down
13 changes: 12 additions & 1 deletion src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Expand Up @@ -9,8 +9,11 @@

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.commands.intake.SpinIntake;
import frc.robot.constants.Constants;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxEncoder;
import frc.robot.utils.logging.input.DigitalInputLoggableInputs;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.DigitalInputIo;
Expand Down Expand Up @@ -58,7 +61,15 @@ public static SparkMaxIo createMockIo() {
return new MockSparkMaxIo(LOGGING_NAME, MotorLoggableInputs.allMetrics());
}
public static SparkMaxIo createRealIo() {
return new RealSparkMaxIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());

SparkMax motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxEncoder(
"Intake Roller", "Encoder", GameConstants.INTAKE_ROLLER_DIAGS_ENCODER, motor));

return new RealSparkMaxIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}
public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
SparkMax motor = createMotor();
Expand Down
14 changes: 12 additions & 2 deletions src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Expand Up @@ -11,7 +11,11 @@
import com.revrobotics.spark.config.SparkMaxConfig;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.constants.Constants;
import frc.robot.constants.Constants2026;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxEncoder;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.SparkMaxIo;
import frc.robot.utils.logging.io.pidmotor.MockSparkMaxPidMotorIo;
Expand All @@ -38,7 +42,6 @@ public ShooterSubsystem(SparkMaxPidMotorIo io) {
followerConfig = new SparkMaxConfig();
followerConfig.follow(Constants.SHOOTER_MOTOR_ID, true);
followerMotor.configure(followerConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);

}

// setSpeed expects a power value from -1 to 1
Expand All @@ -65,7 +68,14 @@ public static SparkMaxPidMotorIo createMockIo() {
}

public static SparkMaxPidMotorIo createRealIo() {
return new RealSparkMaxPidMotorIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());
SparkMaxPidMotor motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxEncoder(
"Shooter", "Encoder", GameConstants.SHOOTER_DIAGS_ENCODER, motor.getNeoMotor()));

return new RealSparkMaxPidMotorIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxPidMotorIo createSimIo(RobotVisualizer visualizer) {
Expand Down
17 changes: 16 additions & 1 deletion src/main/java/frc/robot/subsystems/TurretSubsystem.java
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Expand Up @@ -9,8 +9,10 @@

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Robot;
import frc.robot.constants.Constants;
import frc.robot.constants.GameConstants;
import frc.robot.utils.diag.DiagSparkMaxSwitch;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.pidmotor.MockSparkMaxPidMotorIo;
import frc.robot.utils.logging.io.pidmotor.RealSparkMaxPidMotorIo;
Expand Down Expand Up @@ -113,7 +115,20 @@ public static SparkMaxPidMotorIo createMockIo() {
}

public static SparkMaxPidMotorIo createRealIo() {
return new RealSparkMaxPidMotorIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());

SparkMaxPidMotor motor = createMotor();

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxSwitch(
"Turret", "ForwardLimit", motor.getNeoMotor(), DiagSparkMaxSwitch.Direction.FORWARD));

Robot.getDiagnostics()
.addDiagnosable(
new DiagSparkMaxSwitch(
"Turret", "ReverseLimit", motor.getNeoMotor(), DiagSparkMaxSwitch.Direction.REVERSE));

return new RealSparkMaxPidMotorIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics());
}

public static SparkMaxPidMotorIo createSimIo(RobotVisualizer visualizer) {
Expand Down