Limit current caps to add to below sustainable current

Also, remove climb from brownout calculations as it will be dormant outside of climb and during climb we don't want to be limiting it.

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

@@ -48,7 +48,7 @@ public void robotPeriodic() {
         CommandScheduler.getInstance().run();
 
         // Calculate current limits for subsystems
-        //robotContainer.getPowerController().calculateLimits();
+        robotContainer.getPowerController().calculateLimits();
     }
 
     /** This function is called once each time the robot enters Disabled mode. */

src/main/java/frc/robot/RobotContainer.java

@@ -45,7 +45,7 @@ public class RobotContainer {
     // private final ClimbSubsystem climbSubsystem;
 
     private final JetsonConnection jetson = null;
-    private final PowerController powerController = null;
+    private final PowerController powerController;
 
     // Controllers and buttons
     private final XboxController driveController = new XboxController(0);
@@ -81,15 +81,12 @@ public RobotContainer() {
         // climbSubsystem = new ClimbSubsystem();
 
         // Instantiate power controller
-        /*
         powerController = new PowerController(
             tankSubsystem,
             turretSubsystem,
             internalSubsystem,
             intakeSubsystem
-            //, climbSubsystem
         );
-        */
 
         // Instantiate commands
         // Drive an S-shaped curve from the origin to 3 meters in front through 2 waypoints

src/main/java/frc/robot/subsystems/ClimbSubsystem.java

@@ -3,7 +3,6 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import com.revrobotics.CANSparkMax;
@@ -18,14 +17,12 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 
-import frc.robot.GRTSubsystem;
-import frc.robot.brownout.PowerController;
-
 import static frc.robot.Constants.ClimbConstants.*;
 
-public class ClimbSubsystem extends GRTSubsystem {
+public class ClimbSubsystem extends SubsystemBase {
     private final CANSparkMax six;
     private final RelativeEncoder sixEncoder;
     private final SparkMaxPIDController sixPidController;
@@ -71,9 +68,6 @@ public class ClimbSubsystem extends GRTSubsystem {
     private final NetworkTableEntry shuffleboardFifteenDEntry;
 
     public ClimbSubsystem() {
-        // TODO: measure this
-        super(20);
-
         // Initialize six point arm NEO, encoder PID, and solenoid brake
         six = new CANSparkMax(sixMotorPort, MotorType.kBrushless);
         six.restoreFactoryDefaults();
@@ -261,22 +255,4 @@ public SequentialCommandGroup climb() {
             new ClimbPhase3Command()
         );
     }
-
-    @Override
-    public double getTotalCurrentDrawn() {
-        return PowerController.getCurrentDrawnFromPDH(
-            sixMotorPort, sixBrakePort, tenMotorPort, tenBrakePort, 
-            fifteenLeftPort, fifteenRightPort, tenLeftSolenoidPort, tenRightSolenoidPort
-        );
-    }
-
-    @Override
-    public void setCurrentLimit(double limit) {
-        // TODO: do the solenoids draw significant power? should they be factored in to the limit calculation?
-        int motorLimit = (int) Math.floor(limit / 4);
-
-        six.setSmartCurrentLimit(motorLimit);
-        ten.setSmartCurrentLimit(motorLimit);
-        fifteenMain.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, motorLimit, 0, 0));
-    }
 }

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -62,7 +62,7 @@ private IntakePosition(double value) {
 
     public IntakeSubsystem(InternalSubsystem internalSubsystem /* , JetsonConnection jetson */) {
         // TODO: measure this
-        super(50);
+        super(20);
 
         this.internalSubsystem = internalSubsystem;
         // this.jetson = jetson;

src/main/java/frc/robot/subsystems/TurretSubsystem.java

@@ -119,7 +119,7 @@ public enum ModuleState {
 
     public TurretSubsystem(TankSubsystem tankSubsystem, JetsonConnection connection) {
         // TODO: measure this
-        super(50);
+        super(40);
 
         this.tankSubsystem = tankSubsystem;
         this.jetson = connection;

src/main/java/frc/robot/subsystems/internals/InternalSubsystem.java

@@ -61,7 +61,7 @@ public class InternalSubsystem extends GRTSubsystem {
 
     public InternalSubsystem(TurretSubsystem turretSubsystem) {
         // TODO: measure this
-        super(50);
+        super(20);
 
         this.turretSubsystem = turretSubsystem;
 

src/main/java/frc/robot/subsystems/tank/TankSubsystem.java

@@ -44,7 +44,7 @@ public class TankSubsystem extends GRTSubsystem {
 
     public TankSubsystem() {
         // TODO: measure this
-        super(50);
+        super(40);
 
         // Init left main and follower motors and encoders
         leftMain = new CANSparkMax(fLeftMotorPort, MotorType.kBrushless);