From: Wesley28w <wesleycwong@gmail.com>
Date: Sun, 19 Apr 2026 01:48:57 +0000 (-0700)
Subject: making battery but need more info
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=1bb09a8298d18927609964b5abb39b26a356247c;p=FRC2026.git

making battery but need more info
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ef1aa53..fa920ae 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -37,10 +37,10 @@ import frc.robot.constants.VisionConstants;
 import frc.robot.controls.BaseDriverConfig;
 import frc.robot.controls.Operator;
 import frc.robot.controls.PS5ControllerDriverConfig;
-import frc.robot.subsystems.Breaker.EMABreaker;
 import frc.robot.subsystems.Climb.LinearClimb;
 import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.LED.LED;
+import frc.robot.subsystems.PowerControl.EMABreaker;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.drivetrain.GyroIOPigeon2;
 import frc.robot.subsystems.hood.Hood;
diff --git a/src/main/java/frc/robot/subsystems/Breaker/BreakerConstants.java b/src/main/java/frc/robot/subsystems/Breaker/BreakerConstants.java
deleted file mode 100644
index 99eb2a7..0000000
--- a/src/main/java/frc/robot/subsystems/Breaker/BreakerConstants.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package frc.robot.subsystems.Breaker;
-
-import java.util.LinkedHashMap;
-import java.util.Map;
-
-public class BreakerConstants {
-    public static final Map<Double, Double> THRESHOLDS = new LinkedHashMap<>();
-    static {
-        THRESHOLDS.put(1.0, 6.0 * 120); // breaker default at 120
-        THRESHOLDS.put(4.0, 3.4 * 120);
-        THRESHOLDS.put(10.0, 2.0 * 120);
-        THRESHOLDS.put(20.0, 1.6 * 120);
-        THRESHOLDS.put(30.0, 1.5 * 120);
-    }
-
-    // ports
-    public static int[] DRIVETRAIN_PORTS = {8,9,10,11,18,19,0,1}; // bls, bld, fld, fls, frs, frd, brd, brs
-    public static int[] TURRET_PORTS = {2};
-    public static int[] INTAKE_PORTS = {15,14,13}; // right, left, roller
-    public static int[] SHOOTER_PORTS = {3,4}; // left, right
-    public static int[] HOOD_PORTS = {5}; // shooter
-    public static int[] SPINDEXER_PORTS = {12}; // spindexer (unupdated on sheets) 
-}
diff --git a/src/main/java/frc/robot/subsystems/Breaker/EMABreaker.java b/src/main/java/frc/robot/subsystems/Breaker/EMABreaker.java
deleted file mode 100644
index f823ab6..0000000
--- a/src/main/java/frc/robot/subsystems/Breaker/EMABreaker.java
+++ /dev/null
@@ -1,110 +0,0 @@
-package frc.robot.subsystems.Breaker;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
-
-import org.littletonrobotics.junction.Logger;
-
-import edu.wpi.first.wpilibj.PowerDistribution;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.Constants;
-
-public class EMABreaker extends SubsystemBase {
-
-    private static class Current {
-        double tau;
-        double alpha; // how much of the error we correct per loop
-        double average = 0;
-        double threshold;
-    }
-
-    PowerDistribution pDis = new PowerDistribution();
-
-    double[] subsystemCurrents;
-
-    private List<Current> filters = new ArrayList<>(); // contains currents with their alphas and thresholds
-    private List<Current> subsystems = new ArrayList<>();
-
-    public EMABreaker() {
-        for (Map.Entry<Double, Double> entry : BreakerConstants.THRESHOLDS.entrySet()) {
-            double tau = entry.getKey(); // sec
-            double threshold = entry.getValue(); // A
-
-            Current w = new Current(); // create a filter for the threshold
-            w.tau = tau;
-            w.threshold = threshold;
-            w.alpha = 1 - Math.exp(-Constants.LOOP_TIME / tau); // 1 - e^(-0.02/1) = 0.0198, 1 - e^(-0.02/2) = 0.00995 
-
-            filters.add(w);
-        }
-
-        // subsystems
-        for (int i=0; i<pDis.getNumChannels(); i++) {
-            double tau = 1.0;
-            double threshold = i;
-            Current w = new Current();
-            w.tau = tau;
-            w.threshold = threshold;
-            w.alpha = 1 - Math.exp(-Constants.LOOP_TIME / tau); // 1 - e^(-0.02/1) = 0.
-
-            subsystems.add(w);
-        }
-    }
-
-    @Override
-    public void periodic() {
-        double current = getCurrentFromPowerDistribution();
-        // this is total current averages
-        for (Current f : filters) {
-            // new avg = old avg + fractionAlpha * difference
-            f.average += f.alpha * (current - f.average);
-            Logger.recordOutput("Breaker/IntervalAverage/" + f.tau, f.average);
-        }
-
-        // this is getting currents coming out of all the ports from PDH (big thing under robot all the wires come out of)
-        subsystemCurrents = getAllCurrentFromPowerDistribution();
-        
-        // this should average out all ports
-        for (Current s : subsystems) {
-            s.average += s.alpha * (subsystemCurrents[(int) s.threshold] - s.average);
-        }
-
-        // this should use updated port averages and sum them to get drivetrain average draw for 1 tau (can add more later)
-        Logger.recordOutput("Breaker/DrivetrainAverageDraw", getAverageCurrentDraw(BreakerConstants.DRIVETRAIN_PORTS));
-        Logger.recordOutput("Breaker/SpindexerDraw", getAverageCurrentDraw(BreakerConstants.SPINDEXER_PORTS));
-        Logger.recordOutput("Breaker/ShooterDraw", getAverageCurrentDraw(BreakerConstants.SHOOTER_PORTS));
-        Logger.recordOutput("Breaker/IntakeDraw", getAverageCurrentDraw(BreakerConstants.INTAKE_PORTS));
-        Logger.recordOutput("Breaker/TurretDraw", getAverageCurrentDraw(BreakerConstants.TURRET_PORTS));
-        Logger.recordOutput("Breaker/HoodDraw", getAverageCurrentDraw(BreakerConstants.HOOD_PORTS));
-
-        // total stuff
-        Logger.recordOutput("Breaker/TotalCurrent", current);
-        Logger.recordOutput("Breaker/OverCurrent", isOverCurrent());
-    }
-
-    public double getAverageCurrentDraw(int[] ports) {
-        double sum = 0;
-        for (int number : ports) {
-            sum += subsystems.get(number - 1).average; // the list starts at zero, so ports will be shifted
-        }
-        return sum;
-    }
-
-    public double getCurrentFromPowerDistribution() {
-        return pDis.getTotalCurrent(); // not using .getCurrent() and then an arguement for the port you can get just one port
-    }
-
-    public double[] getAllCurrentFromPowerDistribution() {
-        return pDis.getAllCurrents();
-    }
-
-    public boolean isOverCurrent() {
-        for (Current f : filters) {
-            if (f.average > f.threshold) {
-                return true; // uh oh
-            }
-        }
-        return false;
-    }
-}
diff --git a/src/main/java/frc/robot/subsystems/PowerControl/Battery.java b/src/main/java/frc/robot/subsystems/PowerControl/Battery.java
new file mode 100644
index 0000000..fcb5221
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/PowerControl/Battery.java
@@ -0,0 +1,28 @@
+package frc.robot.subsystems.PowerControl;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Battery extends SubsystemBase {
+    private double voltage;
+    public Battery() {
+        updateVoltageFromBattery();
+    }
+
+    private void updateVoltageFromBattery() { 
+        voltage = RobotController.getBatteryVoltage();
+    }
+    public double getVoltage() { return voltage; }
+
+    public double voltsTillBrownOut() { return voltage - RobotController.getBrownoutVoltage(); }
+    public double toBrownOut() { 
+        // percent of volts we've got left over what we had to start with
+        return voltsTillBrownOut() / (BatteryConstants.MAX_STARTING_VOLTS - RobotController.getBrownoutVoltage());
+    }
+
+    @Override
+    public void periodic() {
+        updateVoltageFromBattery();
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/PowerControl/BatteryConstants.java b/src/main/java/frc/robot/subsystems/PowerControl/BatteryConstants.java
new file mode 100644
index 0000000..0f83c59
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/PowerControl/BatteryConstants.java
@@ -0,0 +1,5 @@
+package frc.robot.subsystems.PowerControl;
+
+public class BatteryConstants {
+    public static final double MAX_STARTING_VOLTS = 12.5; // V 
+}
diff --git a/src/main/java/frc/robot/subsystems/PowerControl/BreakerConstants.java b/src/main/java/frc/robot/subsystems/PowerControl/BreakerConstants.java
new file mode 100644
index 0000000..8d57e45
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/PowerControl/BreakerConstants.java
@@ -0,0 +1,25 @@
+package frc.robot.subsystems.PowerControl;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+public class BreakerConstants {
+    public static final Map<Double, Double> THRESHOLDS = new LinkedHashMap<>();
+    static {
+        THRESHOLDS.put(1.0, 6.0 * 120); // breaker default at 120
+        THRESHOLDS.put(4.0, 3.4 * 120);
+        THRESHOLDS.put(10.0, 2.0 * 120);
+        THRESHOLDS.put(20.0, 1.6 * 120);
+        THRESHOLDS.put(30.0, 1.5 * 120);
+    }
+
+    public static final double WARNING_PERCENTAGE = 0.6; // percent that the system reacts to approaching thresholds
+
+    // ports
+    public static int[] DRIVETRAIN_PORTS = {8,9,10,11,18,19,0,1}; // bls, bld, fld, fls, frs, frd, brd, brs
+    public static int[] TURRET_PORTS = {2};
+    public static int[] INTAKE_PORTS = {15,14,13}; // right, left, roller
+    public static int[] SHOOTER_PORTS = {3,4}; // left, right
+    public static int[] HOOD_PORTS = {5}; // shooter
+    public static int[] SPINDEXER_PORTS = {12}; // spindexer (unupdated on sheets) 
+}
diff --git a/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java b/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
new file mode 100644
index 0000000..48f7692
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
@@ -0,0 +1,118 @@
+package frc.robot.subsystems.PowerControl;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.Constants;
+
+public class EMABreaker extends SubsystemBase {
+
+    private static class Current {
+        double tau;
+        double alpha; // how much of the error we correct per loop
+        double average = 0;
+        double threshold;
+    }
+
+    PowerDistribution pDis = new PowerDistribution();
+
+    double[] subsystemCurrents;
+
+    private List<Current> filters = new ArrayList<>(); // contains currents with their alphas and thresholds
+    private List<Current> subsystems = new ArrayList<>();
+
+    public EMABreaker() {
+        for (Map.Entry<Double, Double> entry : BreakerConstants.THRESHOLDS.entrySet()) {
+            double tau = entry.getKey(); // sec
+            double threshold = entry.getValue(); // A
+
+            Current w = new Current(); // create a filter for the threshold
+            w.tau = tau;
+            w.threshold = threshold;
+            w.alpha = 1 - Math.exp(-Constants.LOOP_TIME / tau); // 1 - e^(-0.02/1) = 0.0198, 1 - e^(-0.02/2) = 0.00995 
+
+            filters.add(w);
+        }
+
+        // subsystems
+        for (int i=0; i<pDis.getNumChannels(); i++) {
+            double tau = 1.0;
+            double threshold = i;
+            Current w = new Current();
+            w.tau = tau;
+            w.threshold = threshold;
+            w.alpha = 1 - Math.exp(-Constants.LOOP_TIME / tau); // 1 - e^(-0.02/1) = 0.
+
+            subsystems.add(w);
+        }
+    }
+
+    @Override
+    public void periodic() {
+        double current = getCurrentFromPowerDistribution();
+        // this is total current averages
+        for (Current f : filters) {
+            // new avg = old avg + fractionAlpha * difference
+            f.average += f.alpha * (current - f.average);
+            Logger.recordOutput("Breaker/IntervalAverage/" + f.tau, f.average);
+        }
+
+        // this is getting currents coming out of all the ports from PDH (big thing under robot all the wires come out of)
+        subsystemCurrents = getAllCurrentFromPowerDistribution();
+        
+        // this should average out all ports
+        for (Current s : subsystems) {
+            s.average += s.alpha * (subsystemCurrents[(int) s.threshold] - s.average);
+        }
+
+        // this should use updated port averages and sum them to get drivetrain average draw for 1 tau (can add more later)
+        Logger.recordOutput("Breaker/DrivetrainAverageDraw", getAverageCurrentDraw(BreakerConstants.DRIVETRAIN_PORTS));
+        Logger.recordOutput("Breaker/SpindexerDraw", getAverageCurrentDraw(BreakerConstants.SPINDEXER_PORTS));
+        Logger.recordOutput("Breaker/ShooterDraw", getAverageCurrentDraw(BreakerConstants.SHOOTER_PORTS));
+        Logger.recordOutput("Breaker/IntakeDraw", getAverageCurrentDraw(BreakerConstants.INTAKE_PORTS));
+        Logger.recordOutput("Breaker/TurretDraw", getAverageCurrentDraw(BreakerConstants.TURRET_PORTS));
+        Logger.recordOutput("Breaker/HoodDraw", getAverageCurrentDraw(BreakerConstants.HOOD_PORTS));
+
+        // total stuff
+        Logger.recordOutput("Breaker/TotalCurrent", current);
+        Logger.recordOutput("Breaker/OverCurrent", isInWarning());
+    }
+
+    public double getAverageCurrentDraw(int[] ports) {
+        double sum = 0;
+        for (int number : ports) {
+            sum += subsystems.get(number - 1).average; // the list starts at zero, so ports will be shifted
+        }
+        return sum;
+    }
+
+    public double getCurrentFromPowerDistribution() {
+        return pDis.getTotalCurrent(); // not using .getCurrent() and then an arguement for the port you can get just one port
+    }
+
+    public double[] getAllCurrentFromPowerDistribution() {
+        return pDis.getAllCurrents();
+    }
+
+    public boolean isInWarning() {
+        for (Current f : filters) {
+            if (f.average > f.threshold * BreakerConstants.WARNING_PERCENTAGE) {
+                return true; // uh oh
+            }
+        }
+        return false;
+    }
+
+    public double percentageUsage() {
+        double sumAvg = 0;
+        for (Current f : filters) {
+            sumAvg += f.average / f.threshold; // gets percentage of us
+        }
+        return sumAvg / filters.size(); // average across filters
+    }
+}