current limits

src/main/java/frc4388/robot/subsystems/BoomBoom.java

@@ -180,6 +180,8 @@ public class BoomBoom extends SubsystemBase {
   public void runDrumShooter(double speed) {
     m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
     SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
+    SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent());
+    SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent());
 
   }
 
@@ -208,4 +210,8 @@ public class BoomBoom extends SubsystemBase {
   {
     speed2 = speed2 + amount;
   }
+
+  public double getCurrent(){
+    return m_shooterFalconLeft.getSupplyCurrent() + m_shooterFalconRight.getSupplyCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Climber.java

@@ -23,4 +23,8 @@ public class Climber extends SubsystemBase {
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
+  public double getCurrent() {
+    return m_climberElbow.getSupplyCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Hood.java

@@ -95,4 +95,8 @@ public double m_fireAngle;
   public double getAnglePositionDegrees(){
     return 0.0;//((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
   }
+
+  public double getCurrent(){
+    return m_angleAdjusterMotor.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxLimitSwitch;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
 
@@ -52,6 +53,8 @@ public class Intake extends SubsystemBase {
    */
   public void runWithTriggers(double leftTrigger, double rightTrigger) {
     m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
+    SmartDashboard.putNumber("Intake Current Supply", m_intakeMotor.getSupplyCurrent());
+    SmartDashboard.putNumber("Intake Current Stator", m_intakeMotor.getStatorCurrent());
   }
   /**
    * Runs The Extender-
@@ -74,4 +77,8 @@ public class Intake extends SubsystemBase {
     toggle = !toggle;
     runExtender(toggle);
   }
+
+  public double getCurrent(){
+    return m_intakeMotor.getSupplyCurrent() + m_extenderMotor.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/LED.java

@@ -57,4 +57,5 @@ public class LED extends SubsystemBase {
   public LEDPatterns getPattern() {
     return m_currentPattern;
   }
+
 }

src/main/java/frc4388/robot/subsystems/Serializer.java

@@ -48,4 +48,7 @@ public class Serializer extends SubsystemBase{
   public boolean getSerializerState() {
     return serializerState;
   }
+  public double getCurrent(){
+    return m_serializerBelt.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -65,4 +65,7 @@ public class Storage extends SubsystemBase {
   public void periodic() {
     //manageStorage();
   }
+  public double getCurrent(){
+    return m_storageMotor.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -258,4 +258,8 @@ public class SwerveDrive extends SubsystemBase {
       speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
     }
   }
+
+  public double getCurrent(){
+    return m_leftFront.getCurrent() + m_rightFront.getCurrent() + m_rightBack.getCurrent() + m_leftBack.getCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/SwerveModule.java

@@ -120,7 +120,7 @@ public class SwerveModule extends SubsystemBase {
     double desiredTicks = currentTicks + deltaTicks;
 
     if (!ignoreAngle) {
-      
+
       angleMotor.set(TalonFXControlMode.Position, desiredTicks);
     }
 
@@ -192,5 +192,7 @@ public class SwerveModule extends SubsystemBase {
     canCoder.setPositionToAbsolute();
     // canCoder.configSensorInitializationStrategy(initializationStrategy)
   }
-
+  public double getCurrent(){
+    return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Turret.java

@@ -109,4 +109,8 @@ public class Turret extends SubsystemBase {
         / ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
   }
 
+  public double getCurrent(){
+    return m_boomBoomRotateMotor.getOutputCurrent();
+  }
+
 }