Make power monitoring easier

Simply pass in subsystems to be monitored in RobotContainer.

	modified:   src/main/java/frc/robot/README
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSparkMax.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
	new file:   src/main/java/frc/robot/util/RBSISubsystem.java

src/main/java/frc/robot/README

@@ -68,12 +68,11 @@ util/
     Various utility functions used by the Az-RBSI are included in this
     directory.  Most teams will not need to modify these routines, but
     additional utilities deemed necessary by individual teams may be placed
-    here for organizational purposes.  The EXCEPTIONS are
-    ``PowerMonitoring.java`` and ``OverrideSwitches.java``, which may be
-    modified to meet the specific designs of teams.  ``PowerMonitoring.java``
-    can be modified to add additional mechanisms to the power monitor logging,
-    and ``OverrideSwitches.java`` can be modified to match any manual override
-    switches on an operator console as described in that module.
+    here for organizational purposes.  The EXCEPTION is
+    ``OverrideSwitches.java``, which may be modified to meet the specific
+    design requirements of teams.  ``OverrideSwitches.java`` can be modified
+    to match any manual override switches on an operator console as described
+    in that module.
 
 
 --------------------

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

@@ -41,6 +41,7 @@
 import frc.robot.subsystems.vision.VisionIO;
 import frc.robot.subsystems.vision.VisionIOPhoton;
 import frc.robot.util.OverrideSwitches;
+import frc.robot.util.PowerMonitoring;
 import frc.robot.util.RobotDeviceId;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
@@ -55,8 +56,9 @@ public class RobotContainer {
   // Declare the robot subsystems here
   private final SwerveSubsystem m_drivebase;
   private final Flywheel m_flywheel;
-  private final Vision m_vision;
   private final Accelerometer m_accel;
+  private final Vision m_vision;
+  private final PowerMonitoring m_power;
 
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
@@ -107,6 +109,11 @@ public RobotContainer() {
         break;
     }
 
+    // ``PowerMonitoring`` takes all the subsystems for which you wish to have
+    //   power monitoring; DO NOT include ``m_drivebase``, as that is already
+    //   included.
+    m_power = new PowerMonitoring(m_flywheel);
+
     // Configure the trigger bindings
     configureBindings();
     // Define Auto commands

src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java

@@ -19,13 +19,13 @@
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants;
+import frc.robot.util.RBSISubsystem;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
-public class Flywheel extends SubsystemBase {
+public class Flywheel extends RBSISubsystem {
   private final FlywheelIO io;
   private final FlywheelIOInputsAutoLogged inputs = new FlywheelIOInputsAutoLogged();
   private final SimpleMotorFeedforward ffModel;
@@ -108,4 +108,9 @@ public double getVelocityRPM() {
   public double getCharacterizationVelocity() {
     return inputs.velocityRadPerSec;
   }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
 }

src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java

@@ -16,6 +16,10 @@
 import org.littletonrobotics.junction.AutoLog;
 
 public interface FlywheelIO {
+
+  // IMPORTANT: Include here all devices that are part of this mechanism!
+  public final int[] powerPorts = {};
+
   @AutoLog
   public static class FlywheelIOInputs {
     public double positionRad = 0.0;

src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSparkMax.java

@@ -37,6 +37,10 @@ public class FlywheelIOSparkMax implements FlywheelIO {
       new CANSparkMax(Ports.FLYWHEEL_LEADER.getDeviceNumber(), MotorType.kBrushless);
   private final RelativeEncoder encoder = leader.getEncoder();
   private final SparkPIDController pid = leader.getPIDController();
+  // IMPORTANT: Include here all devices listed above that are part of this mechanism!
+  public final int[] powerPorts = {
+    Ports.FLYWHEEL_LEADER.getPowerPort(), Ports.FLYWHEEL_FOLLOWER.getPowerPort()
+  };
 
   public FlywheelIOSparkMax() {
     leader.restoreFactoryDefaults();

src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java

@@ -34,6 +34,10 @@ public class FlywheelIOTalonFX implements FlywheelIO {
       new TalonFX(Ports.FLYWHEEL_LEADER.getDeviceNumber(), Ports.FLYWHEEL_LEADER.getBus());
   private final TalonFX follower =
       new TalonFX(Ports.FLYWHEEL_FOLLOWER.getDeviceNumber(), Ports.FLYWHEEL_FOLLOWER.getBus());
+  // IMPORTANT: Include here all devices listed above that are part of this mechanism!
+  public final int[] powerPorts = {
+    Ports.FLYWHEEL_LEADER.getPowerPort(), Ports.FLYWHEEL_FOLLOWER.getPowerPort()
+  };
 
   private final StatusSignal<Double> leaderPosition = leader.getPosition();
   private final StatusSignal<Double> leaderVelocity = leader.getVelocity();

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

@@ -22,6 +22,8 @@
 
 public class PowerMonitoring extends VirtualSubsystem {
 
+  private final RBSISubsystem[] subsystems;
+
   /** Define the Power Distribution Hardware */
   private PowerDistribution m_powerModule =
       new PowerDistribution(
@@ -39,18 +41,18 @@ public class PowerMonitoring extends VirtualSubsystem {
     Ports.BR_DRIVE.getPowerPort()
   };
 
-  // STEER motor power plugged
+  // STEER motor power ports
   private final int[] m_steerPowerPorts = {
     Ports.FL_ROTATION.getPowerPort(),
     Ports.FR_ROTATION.getPowerPort(),
     Ports.BL_ROTATION.getPowerPort(),
     Ports.BR_ROTATION.getPowerPort()
   };
-  // Add additional subsystem port enumerations here for combined monitoring
-  // Example:
-  private final int[] m_flywheelPowerPorts = {
-    Ports.FLYWHEEL_LEADER.getPowerPort(), Ports.FLYWHEEL_FOLLOWER.getPowerPort()
-  };
+
+  // Class method definition, including inputs of optional subsystems
+  public PowerMonitoring(RBSISubsystem... subsystems) {
+    this.subsystems = subsystems;
+  }
 
   /** Periodic Method */
   public void periodic() {
@@ -76,24 +78,23 @@ public void periodic() {
     for (int port : m_steerPowerPorts) {
       steerCurrent += channelCurrents[port];
     }
-    // Add current monitoring by subsystem here
-    // Example:
-    double flywheelCurrent = 0.0;
-    for (int port : m_flywheelPowerPorts) {
-      flywheelCurrent += channelCurrents[port];
-    }
-
     // Log values to AdvantageKit and to SmartDashboard
     Logger.recordOutput("PowerMonitor/TotalCurrent", totalCurrent);
     Logger.recordOutput("PowerMonitor/DriveCurrent", driveCurrent);
     Logger.recordOutput("PowerMonitor/SteerCurrent", steerCurrent);
     SmartDashboard.putNumber("TotalCurrent", totalCurrent);
     SmartDashboard.putNumber("DriveCurrent", driveCurrent);
     SmartDashboard.putNumber("SteerCurrent", steerCurrent);
-    // Add logging for subsystems here
-    // Example:
-    Logger.recordOutput("PowerMonitor/FlywheelCurrent", flywheelCurrent);
-    SmartDashboard.putNumber("FlywheelCurrent", flywheelCurrent);
+
+    // Compute and log any passed-in subsystems
+    for (RBSISubsystem subsystem : subsystems) {
+      double subsystemCurrent = 0.0;
+      for (int port : subsystem.getPowerPorts()) {
+        subsystemCurrent += channelCurrents[port];
+      }
+      Logger.recordOutput("PowerMonitor/" + subsystem.getName() + "Current", subsystemCurrent);
+      SmartDashboard.putNumber(subsystem.getName() + "Current", subsystemCurrent);
+    }
 
     // Do something about setting priorities if drawing too much current
 

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

@@ -0,0 +1,29 @@
+// Copyright (c) 2024 Az-FIRST
+// http://github.com/AZ-First
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.util;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class RBSISubsystem extends SubsystemBase {
+
+  /**
+   * Gets the power ports associated with this Subsystem.
+   *
+   * @return Array of power distribution module ports
+   */
+  public int[] getPowerPorts() {
+    int[] retval = {};
+    return retval;
+  }
+}