Don't attempt to log temperature for brushed motors

lasarobotics · Feb 14, 2024 · 3c67883 · 3c67883
1 parent 65f9e50
commit 3c67883
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/main/java/org/lasarobotics/hardware/revrobotics/Spark.java b/src/main/java/org/lasarobotics/hardware/revrobotics/Spark.java
@@ -427,8 +427,10 @@ public void periodic() {
     handleSmoothMotion();
 
     Logger.recordOutput(m_id.name + CURRENT_LOG_ENTRY, m_spark.getOutputCurrent());
-    Logger.recordOutput(m_id.name + TEMPERATURE_LOG_ENTRY, m_spark.getMotorTemperature());
     Logger.recordOutput(m_id.name + MOTION_LOG_ENTRY, m_isSmoothMotionEnabled);
+
+    if (getMotorType() == MotorType.kBrushed) return;
+    Logger.recordOutput(m_id.name + TEMPERATURE_LOG_ENTRY, m_spark.getMotorTemperature());
   }
 
   /**