Add Falcon Temperature

src/main/java/frc/robot/DriveModule.java

@@ -9,16 +9,22 @@ public class DriveModule {
   private TalonFX slave1;
   private TalonFX slave2;
 
+  private Solenoid cooler;
+
   private Solenoid pto;
 
-  DriveModule(TalonFX master, TalonFX slave1, TalonFX slave2, Solenoid pto) {
+  private final double MAX_TEMP = 35; //TODO: Determine optimal temperature
+
+  DriveModule(TalonFX master, TalonFX slave1, TalonFX slave2, Solenoid pto, Solenoid cooler) {
     this.master = master;
     this.slave1 = slave1;
     this.slave2 = slave2;
 
     this.slave1.follow(this.master);
     this.slave2.follow(this.master);
 
+    this.cooler = cooler;
+
     this.pto = pto;
   }
 
@@ -35,4 +41,20 @@ public void set(double input) {
   public void setPTO(boolean engaged) {
     pto.set(engaged);
   }
+
+  /**
+   * Gets temperature of givien motor.
+   * 
+   * @param motor motor that's temperature is gotten.
+   */
+  private double getTemp(TalonFX motor) {
+    return motor.getTemperature();
+  }
+
+  /**
+   * Cools falcons using pneumatic coolers if above recommended temperature.
+   */
+  public void coolTemp() {
+    cooler.set(getTemp(master) > MAX_TEMP || getTemp(slave1) > MAX_TEMP || getTemp(slave2) > MAX_TEMP);
+  }
 }

src/main/java/frc/robot/Drivetrain.java

@@ -86,6 +86,14 @@ public double deadband(double in) {
     }
 
     /**
+     * Cools drivetrain motors.
+     */
+    public void coolMotors() {
+        left.coolTemp();
+        right.coolTemp();
+    }
+
+    /*
      * Moves the robot to intercept powercells
      * 
      * @param x target X-coordinate

src/main/java/frc/robot/Robot.java

@@ -23,6 +23,7 @@
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.GenericHID.Hand;
@@ -102,8 +103,22 @@ public void robotInit() {
 
     if (this.drivetrainToggle) {
       System.out.print("Initializing drivetrain...");
-      DriveModule leftModule = new DriveModule(new TalonFX(5), new TalonFX(6), new TalonFX(7), new Solenoid(2, 0));
-      DriveModule rightModule = new DriveModule(new TalonFX(8), new TalonFX(9), new TalonFX(10), new Solenoid(2, 1));
+      Solenoid pto = new Solenoid(2,0);
+      DriveModule leftModule = new DriveModule(
+        new TalonFX(5),
+        new TalonFX(6),
+        new TalonFX(7),
+        pto,
+        new Solenoid(2, 4)
+      );
+      DriveModule rightModule = new DriveModule(
+        new TalonFX(8),
+        new TalonFX(9),
+        new TalonFX(10),
+        pto,
+        new Solenoid(2, 5)
+      );
+
       drive = new Drivetrain(leftModule, rightModule, detector);
       System.out.println("done");
     } else {
@@ -192,6 +207,8 @@ public void teleopPeriodic() {
       }
 
       drive.arcadeDrive(turnInput, speedInput);
+
+      drive.coolMotors();
     }
 
     if (this.photoswitchSensorToggle)