Log pdp in robotPeriodic

StuyPulse · Mar 23, 2024 · 8d8564d · 8d8564d
1 parent fa1843c
commit 8d8564d
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diff --git a/src/main/java/com/stuypulse/robot/Robot.java b/src/main/java/com/stuypulse/robot/Robot.java
@@ -69,6 +69,11 @@ public void robotInit() {
     @Override
     public void robotPeriodic() {
         scheduler.run();
+
+        SmartDashboard.putNumber("Total Power (W)", robot.pdp.getTotalPower());
+        SmartDashboard.putNumber("Total Current (A)", robot.pdp.getTotalCurrent());
+        SmartDashboard.putNumber("Battery Voltage (V)", robot.pdp.getVoltage());
+        SmartDashboard.putNumber("Calculated Resistance (R)", robot.pdp.getVoltage() / robot.pdp.getTotalCurrent());
     }
 
     public static boolean isBlue() {

diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -45,6 +45,7 @@
 import com.stuypulse.robot.util.PathUtil.AutonConfig;
 
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -71,6 +72,8 @@ public class RobotContainer {
     public final Shooter shooter = Shooter.getInstance();
     public final SwerveDrive swerve = SwerveDrive.getInstance();
 
+    public final PowerDistribution pdp = new PowerDistribution();
+
     // Autons
     private static SendableChooser<Command> autonChooser;