From 1bb09a8298d18927609964b5abb39b26a356247c Mon Sep 17 00:00:00 2001
From: Wesley28w <wesleycwong@gmail.com>
Date: Sat, 18 Apr 2026 18:48:57 -0700
Subject: [PATCH] making battery but need more info

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 .../subsystems/PowerControl/Battery.java      | 28 +++++++++++++++++++
 .../PowerControl/BatteryConstants.java        |  5 ++++
 .../BreakerConstants.java                     |  4 ++-
 .../{Breaker => PowerControl}/EMABreaker.java | 16 ++++++++---
 5 files changed, 49 insertions(+), 6 deletions(-)
 create mode 100644 src/main/java/frc/robot/subsystems/PowerControl/Battery.java
 create mode 100644 src/main/java/frc/robot/subsystems/PowerControl/BatteryConstants.java
 rename src/main/java/frc/robot/subsystems/{Breaker => PowerControl}/BreakerConstants.java (84%)
 rename src/main/java/frc/robot/subsystems/{Breaker => PowerControl}/EMABreaker.java (89%)

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/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/Breaker/BreakerConstants.java b/src/main/java/frc/robot/subsystems/PowerControl/BreakerConstants.java
similarity index 84%
rename from src/main/java/frc/robot/subsystems/Breaker/BreakerConstants.java
rename to src/main/java/frc/robot/subsystems/PowerControl/BreakerConstants.java
index 99eb2a7..8d57e45 100644
--- a/src/main/java/frc/robot/subsystems/Breaker/BreakerConstants.java
+++ b/src/main/java/frc/robot/subsystems/PowerControl/BreakerConstants.java
@@ -1,4 +1,4 @@
-package frc.robot.subsystems.Breaker;
+package frc.robot.subsystems.PowerControl;
 
 import java.util.LinkedHashMap;
 import java.util.Map;
@@ -13,6 +13,8 @@ public class BreakerConstants {
         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};
diff --git a/src/main/java/frc/robot/subsystems/Breaker/EMABreaker.java b/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
similarity index 89%
rename from src/main/java/frc/robot/subsystems/Breaker/EMABreaker.java
rename to src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
index f823ab6..48f7692 100644
--- a/src/main/java/frc/robot/subsystems/Breaker/EMABreaker.java
+++ b/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
@@ -1,4 +1,4 @@
-package frc.robot.subsystems.Breaker;
+package frc.robot.subsystems.PowerControl;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -80,7 +80,7 @@ public class EMABreaker extends SubsystemBase {
 
         // total stuff
         Logger.recordOutput("Breaker/TotalCurrent", current);
-        Logger.recordOutput("Breaker/OverCurrent", isOverCurrent());
+        Logger.recordOutput("Breaker/OverCurrent", isInWarning());
     }
 
     public double getAverageCurrentDraw(int[] ports) {
@@ -99,12 +99,20 @@ public class EMABreaker extends SubsystemBase {
         return pDis.getAllCurrents();
     }
 
-    public boolean isOverCurrent() {
+    public boolean isInWarning() {
         for (Current f : filters) {
-            if (f.average > f.threshold) {
+            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
+    }
 }
-- 
2.39.5