Add Falcon Temperature

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

@@ -3,23 +3,28 @@
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonFX;
 import edu.wpi.first.wpilibj.Solenoid;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class DriveModule {
   private TalonFX master;
   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;
   }
 
@@ -40,8 +45,14 @@ public void setPTO(boolean engaged) {
   /**
    * Adds the temperature of the motors to Smart Dashboard.
    */
-  public void getTemp(String message) {
-    double[] temp = {master.getTemperature(), slave1.getTemperature(), slave2.getTemperature()};
-    SmartDashboard.putNumberArray(message, temp);
+  public 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

@@ -81,8 +81,11 @@ public double deadband(double in) {
         return Math.abs(in) > DEADBAND_LIMIT ? in : 0.0;
     }
 
-    public void getTemp() {
-        left.getTemp("Left Motor Temperature");
-        right.getTemp("Right Motor Temperature");
+    /**
+     * Cools Falcon temperature.
+     */
+    public void coolFalconTemp() {
+        left.coolTemp();
+        right.coolTemp();
     }
 }

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

@@ -20,6 +20,7 @@
 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;
@@ -86,18 +87,22 @@ public void robotInit() {
 
     if (this.drivetrainToggle) {
       System.out.print("Initializing drivetrain...");
+      Solenoid pto = new Solenoid(2,0);
       DriveModule leftModule = new DriveModule(
         new TalonFX(5),
         new TalonFX(6),
         new TalonFX(7),
-        new Solenoid(2, 0)
+        pto,
+        new Solenoid(2, 4)
       );
       DriveModule rightModule = new DriveModule(
         new TalonFX(8),
         new TalonFX(9),
         new TalonFX(10),
-        new Solenoid(2, 1)
+        pto,
+        new Solenoid(2, 5)
       );
+
       drive = new Drivetrain(leftModule, rightModule);
       System.out.println("done");
     } else {
@@ -162,7 +167,7 @@ public void teleopPeriodic() {
 
       drive.arcadeDrive(turnInput, speedInput);
 
-      drive.getTemp();
+      drive.coolFalconTemp();
     }
 
     if (this.photoswitchSensorToggle)