Current Dashboard

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

@@ -5,7 +5,7 @@
 
 public class Constants {
 
-    public class Drive {
+    public static class Drive {
         public static final double MAXIMUM_VELOCITY = 5.5; // meters per second
         public static final double MAXIMUM_ANGULAR_VELOCITY = 8; // radians per second
 
@@ -27,7 +27,7 @@ public class Drive {
         public static final double ROTATION_TARGET_RANGE = 1.5;
     }
 
-    public class Arm {
+    public static class Arm {
         // Encoder constants
         public static final int ENCODER_CHANNEL = 7;
         public static final int ENCODER_CHANNEL_B = 29;
@@ -98,7 +98,7 @@ public class Auto {
         public static final PathConstraints EXTRA_PATHFINDING_CONSTRAINTS = new PathConstraints(3, 3, 9.4, 12.5);
     }
 
-    public class Shooter {
+    public static class Shooter {
         public static final double SHOOT_SPEED = 1700;
         public static final double AMP_SHOOT_SPEED = SHOOT_SPEED * 0.4;
         public static final double LONG_SHOT_SPEED = 3500;
@@ -131,12 +131,12 @@ public class Shooter {
         public static final double INDEXER_MOI = 1;
     }
 
-    public class Dashboard {
+    public static class Dashboard {
         public static final boolean DISABLE_TUNER = false;
         public static final String VERSION_FILE_NAME = "version/.robotVersionMini";
     }
 
-    public class Controller {
+    public static class Controller {
         public static final double DEADZONE_CONSTANT = 0.1675;
 
         public static final double RUMBLE_POWER = 1;
@@ -151,11 +151,11 @@ public class Controller {
         public static final int RIGHT_TRIGGER = 3;
     }
 
-    public class LEDController {
+    public static class LEDController {
         public static final int LED_CONTROLLER_CHANNEL = 0;
     }
 
-    public class Undertaker {
+    public static class Undertaker {
         public static final int INTAKE_MOTOR_ONE = 13;
         public static final int INTAKE_MOTOR_TWO = 14;
 

src/main/java/frc/robot/RobotContainer.java

@@ -76,6 +76,7 @@ public RobotContainer() {
         operatorController = new CommandXboxController(Constants.Controller.OPERATOR_CONTROLLER);
 
         Dashboards.initVoltageDashboard();
+        Dashboards.initCurrentDashboard();
         Dashboards.initMemoryDashboard();
         VersionFile.getInstance().putToDashboard();
 

src/main/java/frc/robot/shooter/ShooterSubsystem.java

@@ -4,7 +4,10 @@
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Constants;
 import frc.robot.Robot;
 
@@ -92,8 +95,15 @@ public void setIndexerSpeed(double targetSpeed) {
         shooterIO.setIndexerOutput(targetIndexerSpeed);
     }
 
+    public Command testMotor() {
+        return new InstantCommand(() -> shooterIO.setShooterOutput(0.1, 0))
+                .andThen(new WaitCommand(2))
+                .andThen(() -> shooterIO.setShooterOutput(0, 0));
+    }
+
     @Override
     public void periodic() {
+
         topOutput = topPidController.calculate(shooterIO.getShooterSpeeds()[0], targetTopShooterSpeed)
                 + topFeedForward.calculate(targetTopShooterSpeed);
         bottomOutput = bottomPidController.calculate(shooterIO.getShooterSpeeds()[1], targetBottomShooterSpeed)

src/main/java/frc/robot/shooter/SimShooterIO.java

@@ -40,7 +40,7 @@ public boolean isIndexerLoaded() {
 
     @Override
     public double[] getShooterSpeeds() {
-        return new double[] {topShooterMotorSim.getAngularVelocityRPM(), bottomShooterMotorSim.getAngularVelocityRPM()};
+        return new double[] {shooterTopVoltage, shooterBottomVoltage};
     }
 
     @Override

src/main/java/frc/robot/util/Dashboards.java

@@ -1,12 +1,16 @@
 package frc.robot.util;
 
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 public class Dashboards {
     private static boolean voltageNeedsInit = true;
+    private static boolean currentNeedsInit = true;
     private static boolean memoryNeedsInit = true;
+    private static final PowerDistribution PDH = new PowerDistribution(1, ModuleType.kRev);
 
     public static void initVoltageDashboard() {
         if (voltageNeedsInit) {
@@ -21,6 +25,26 @@ public static void initVoltageDashboard() {
         }
     }
 
+    public static void initCurrentDashboard() {
+        if (currentNeedsInit) {
+            ShuffleboardTab tab = Shuffleboard.getTab("Current Info");
+            // Arm Motors
+            tab.addDouble("Right Arm Motor Current", () -> PDH.getCurrent(18));
+            tab.addDouble("Left Arm Motor Current", () -> PDH.getCurrent(5));
+            // Shooter Motors
+            tab.addDouble("Shooter Motor Top Current", () -> PDH.getCurrent(12));
+            tab.addDouble("Shooter Motor Bottom Current", () -> PDH.getCurrent(7));
+            tab.addDouble("Indexer Motor Top Current", () -> PDH.getCurrent(13));
+            tab.addDouble("Indexer Motor Bottom Current", () -> PDH.getCurrent(6));
+            // Undertaker Motors
+            tab.addDouble("Undertaker left Motor Current", () -> PDH.getCurrent(4));
+
+            // Drive Motors
+
+            currentNeedsInit = false;
+        }
+    }
+
     public static void initMemoryDashboard() {
         if (memoryNeedsInit) {
             Runtime r = Runtime.getRuntime();