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This commit is contained in:
Ryan Manley
2022-03-12 11:36:10 -07:00
parent e237f14537
commit 03485c1063
14 changed files with 77 additions and 7 deletions
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src/main/java/frc4388/robot/Robot.java
+11
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@@ -43,6 +43,7 @@ public class Robot extends TimedRobot {
private SendableChooser<Pose2d> odoChooser = new SendableChooser<Pose2d>();
private HashMap<String, Pose2d> odoChoices = new HashMap<>();
private Pose2d selectedOdo;
private double current;
/**
* This function is run when the robot is first started up and should be
@@ -130,6 +131,16 @@ public class Robot extends TimedRobot {
m_robotTime.updateTimes();
SmartDashboard.putNumber("Turret", m_robotContainer.m_robotMap.shooterTurret.getEncoder().getPosition());
SmartDashboard.putNumber("Hood", m_robotContainer.m_robotMap.angleAdjusterMotor.getEncoder().getPosition());
current =
m_robotContainer.m_robotBoomBoom.getCurrent() +
m_robotContainer.m_robotClimber.getCurrent() +
m_robotContainer.m_robotHood.getCurrent() +
m_robotContainer.m_robotIntake.getCurrent() +
m_robotContainer.m_robotSerializer.getCurrent() +
m_robotContainer.m_robotStorage.getCurrent() +
m_robotContainer.m_robotSwerveDrive.getCurrent() +
m_robotContainer.m_robotTurret.getCurrent();
SmartDashboard.putNumber("Total Robot Current Draw", current);
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
// commands, running already-scheduled commands, removing finished or