SVR

src/main/java/frc/robot/Constants.java

@@ -52,7 +52,9 @@ public static final class InternalConstants {
     public static final class IntakeConstants {
         public static final int intakePort = 12;
         public static final int deploymentPort = 11;
-        public static final int limitSwitchPort = 3;
+
+        public static final int tLimitSwitchPort = 3;
+        public static final int bLimitSwitchPort = 2;
     }
 
     public static final class ClimbConstants {
@@ -73,7 +75,7 @@ public static final class JetsonConstants {
         public static final int turretCameraPort = 1181;
         public static final int intakeCameraPort = 1182;
         public static final int jetsonPort = 5800;
-        public static final String jetsonIP = "10.1.92.94";
+        public static final String jetsonIP = "10.1.92.12";
     }
 
     public static final class ShuffleboardConstants {

src/main/java/frc/robot/GRTSubsystem.java

@@ -1,35 +1,41 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.brownout.PowerController;
 
 /**
  * A convenience class wrapping SubsystemBase for brownout and other shared subsystem logic.
  */
 public abstract class GRTSubsystem extends SubsystemBase {
     protected final double minCurrent;
+    private final int[] motorPorts;
 
     /**
-     * Creates a GRTSubsystem from the given minimum current.
+     * Creates a GRTSubsystem from the given minimum current and motor ports to be checked for subsystem current draw.
      * @param minCurrent The minimum current.
      */
-    public GRTSubsystem(double minCurrent) {
+    public GRTSubsystem(double minCurrent, int... motorPorts) {
         this.minCurrent = minCurrent;
+        this.motorPorts = motorPorts;
     }
 
     /**
      * Gets the subsystem's minimum current.
      * @return The minimum current.
      */
-    public double getMinCurrent() {
+    public final double getMinCurrent() {
         return minCurrent;
     }
 
     /**
-     * Gets the total current being drawn by the subsystem. Implementers should use `PowerController.getCurrentDrawnFromPDH`
-     * with all the subsystem's motor controller ports.
+     * Gets the total current being drawn by the subsystem by summing the current drawn by the supplied motor controller
+     * ports on the PDH.
+     * @param powerController The PowerController instance, for calling `getCurrentDrawnFromPDH`.
      * @return The total current being drawn by the subsystem.
      */
-    abstract public double getTotalCurrentDrawn();
+    public final double getTotalCurrentDrawn(PowerController powerController) {
+        return powerController.getCurrentDrawnFromPDH(motorPorts);
+    }
 
     /**
      * Sets the subsystem's current limit. Implementers should split the subsystem's limit between their motor controllers and 

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

@@ -5,7 +5,6 @@
 package frc.robot;
 
 import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -23,10 +22,8 @@
  * project.
  */
 public class Robot extends TimedRobot {
-    private Command autonomousCommand;
-
     private RobotContainer robotContainer;
-    private PowerDistribution powerDistribution;
+    private Command autonomousCommand;
 
     /**
      * This function is run when the robot is first started up and should be used for any
@@ -37,7 +34,6 @@ public void robotInit() {
         // Instantiate our RobotContainer. This will perform all our button bindings, and put our
         // autonomous chooser on the dashboard.
         robotContainer = new RobotContainer();
-        powerDistribution = new PowerDistribution();
 
         // Start camera server automatic capture and disable livewindow telemetry
         CameraServer.startAutomaticCapture();
@@ -60,14 +56,14 @@ 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. */
     @Override
     public void disabledInit() {
         // Turn off the ring light when the robot disables
-        powerDistribution.setSwitchableChannel(false);
+        robotContainer.getPowerDistribution().setSwitchableChannel(false);
     }
 
     @Override
@@ -81,7 +77,7 @@ public void autonomousInit() {
         if (autonomousCommand != null) autonomousCommand.schedule();
 
         // Turn on the ring light
-        powerDistribution.setSwitchableChannel(true);
+        robotContainer.getPowerDistribution().setSwitchableChannel(true);
     }
 
     /** This function is called periodically during autonomous. */
@@ -97,7 +93,7 @@ public void teleopInit() {
         if (autonomousCommand != null) autonomousCommand.cancel();
 
         // Turn on the ring light
-        powerDistribution.setSwitchableChannel(true);
+        robotContainer.getPowerDistribution().setSwitchableChannel(true);
     }
 
     /** This function is called periodically during operator control. */
@@ -114,7 +110,7 @@ public void testInit() {
         CommandScheduler.getInstance().cancelAll();
 
         // Turn on the ring light
-        powerDistribution.setSwitchableChannel(true);
+        robotContainer.getPowerDistribution().setSwitchableChannel(true);
 
         // Run DT turning left and right alternating
         tankSubsystem.setCarDrivePowers(0, 1); // Rotate DT right
@@ -126,7 +122,7 @@ public void testInit() {
         // Sweep intake from -1 to 1 power
         intakeSubsystem.setDriverOverride(true);
         for (double pow = -1; pow <= 1; pow += 0.1) {
-            intakeSubsystem.setIntakePower(pow);
+            intakeSubsystem.setDriverPower(pow);
             Timer.delay(0.1);
         }
         intakeSubsystem.setDriverOverride(false);