From 5e91fe7697922a9384e698e3889e0d5aa023835e Mon Sep 17 00:00:00 2001
From: Atharv Nagavarapu <30nagava@elmbrookstudents.org>
Date: Mon, 8 Dec 2025 23:42:55 +0000
Subject: [PATCH] Update utils/MotorDiagnostics.py

---
 utils/MotorDiagnostics.py | 48 ++++++++++++++++++++++++++++-----------
 1 file changed, 35 insertions(+), 13 deletions(-)

diff --git a/utils/MotorDiagnostics.py b/utils/MotorDiagnostics.py
index f4aad24..e8cc945 100644
--- a/utils/MotorDiagnostics.py
+++ b/utils/MotorDiagnostics.py
@@ -9,6 +9,15 @@ hub = PrimeHub()
 class MotorDiagnostics:
   def __init__(self):
       self.testmotor = None
+      self.port_map = {
+        "A": Port.A,
+        "B": Port.B,
+        "C": Port.C,
+        "D": Port.D,
+        "E": Port.E,
+        "F": Port.F,
+      }
+
   def stdev(self, vals):
     data = vals
     if len(data) < 2:
@@ -50,7 +59,7 @@ class MotorDiagnostics:
       ).strip().upper()
 
       if motorinput in valid_ports:
-        self.testmotor = Motor(Port[motorinput])
+        self.testmotor = Motor(self.port_map[motorinput])
         print(f"Motor initialized on port {motorinput}.")
         break  # exit the loop once a valid port is entered
       else:
@@ -62,40 +71,53 @@ class MotorDiagnostics:
     motorspeeds = []
     motorloads = []
     target_angle = speed * 3
-
+    print("\n", speed, "DEGREES PER SECOND TEST")
     self.testmotor.run_angle(speed, target_angle, Stop.HOLD, False)
-    while abs(self.testmotor.speed()) > 5:
+    stopwatchmotor = StopWatch()
+    while stopwatchmotor.time() < 3000:
         wait(20)
         motorspeeds.append(self.testmotor.speed())
         motorloads.append(self.testmotor.load())
     
     max_speed, max_accel, max_torque = self.testmotor.control.limits()
-    print("Maximum motor speed (deg/s):", max_speed)
 
-    print("Desired motor speed (degrees per second): ", str(speed))
+
+    print("Desired motor speed: ", str(speed))
     if motorspeeds:
       avg = sum(motorspeeds) / len(motorspeeds)
-      print("Average motor speed (degrees per second):", avg)
-      print("Motor speed deviation (this measures how much your motor deviates from the average speed):", str(self.stdev(motorspeeds)))
+      print("Average motor speed:", avg)
+      print("Motor speed deviation:", str(self.stdev(motorspeeds)))
     else:
       print("No speed samples collected.")
       avg = 0
     if motorloads:
       avgload = sum(motorloads) / len(motorloads)
-      print("Average motor load (mNm):", avgload)
-      print("Motor load deviation (this measures how much your motor load deviates from the average load):", str(self.stdev(motorloads)))
+
+      print("Average motor load:", avgload)
+      print("Motor load deviation:", str(self.stdev(motorloads)))
     else:
       print("No load samples collected.")
       avgload = 0
-   
     score = self.health_score(speed, avg, self.stdev(motorspeeds), avgload)
-    print("Health score for this test:", score)
+    print("Health score for this test:", str(score) + "%")
     return score
   def fullTest(self):
     self.initializeMotor()
+    print("Load measurements are in mNm. Speed measurements are in degrees per second.")
+    max_speed, max_accel, max_torque = self.testmotor.control.limits()
+    print("Maximum motor speed:", max_speed)
     test180 = self.testSpeed(180)
     test540 = self.testSpeed(540)
     test1000 = self.testSpeed(1000)
+    print("FINAL MOTOR STATISTICS")
     final = (test180 + test540 + test1000) / 3
-    print("Final motor health score:", final)
-    # print final health scores here as a combination of the 3 speeds, include speeds individual scores and total score
\ No newline at end of file
+    print("Final motor health score:", str(final) + "%")
+    if final < 80:
+      print("Your motor is in need of attention. Make sure to clean it regularly and charge the Prime Hub.")
+    elif final < 90:
+      print("Your motor is in OK condition. Make sure to clean it regularly and charge the Prime Hub.")
+    elif final < 97:
+      print("Your motor is in great condition!")
+    else:
+      print("Your motor is in AMAZING condition!!!")
+    
\ No newline at end of file