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Fixed PDH Empty Values #125

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Fixed PDH Empty Values #125

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7c31f86
WPILib PDH API to AKit Conduit API
noahkr07 Jan 26, 2026
7f8a553
Reinstate power logging temporarily removed
tbowers7 Jan 27, 2026
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4 changes: 3 additions & 1 deletion src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,10 @@
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.Constants.PowerConstants;
import frc.robot.util.VirtualSubsystem;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedPowerDistribution;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher;
Expand Down Expand Up @@ -100,7 +102,7 @@ public Robot() {
// Initialize URCL
Logger.registerURCL(URCL.startExternal());
StatusLogger.disableAutoLogging(); // Disable REVLib's built-in logging
// LoggedPowerDistribution.getInstance(PowerConstants.kPDMCANid, PowerConstants.kPDMType);
LoggedPowerDistribution.getInstance(PowerConstants.kPDMCANid, PowerConstants.kPDMType);

// Start AdvantageKit logger
Logger.start();
Expand Down
29 changes: 15 additions & 14 deletions src/main/java/frc/robot/util/RBSIPowerMonitor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,11 @@

package frc.robot.util;

import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.RobotController;
import frc.robot.Constants.PowerConstants;
import frc.robot.Constants.RobotDevices;
import frc.robot.util.Alert.AlertType;
import org.littletonrobotics.conduit.ConduitApi;
import org.littletonrobotics.junction.Logger;

/**
Expand All @@ -29,8 +29,9 @@
public class RBSIPowerMonitor extends VirtualSubsystem {

private final RBSISubsystem[] subsystems;
private final PowerDistribution m_pdm =
new PowerDistribution(PowerConstants.kPDMCANid, PowerDistribution.ModuleType.kRev);
// private final LoggedPowerDistribution m_pdm =
// LoggedPowerDistribution.getInstance(PowerConstants.kPDMCANid, PowerConstants.kPDMType);
ConduitApi conduit = ConduitApi.getInstance();

// Define local variables
private final LoggedTunableNumber batteryCapacityAh;
Expand Down Expand Up @@ -61,27 +62,27 @@ public RBSIPowerMonitor(LoggedTunableNumber batteryCapacityAh, RBSISubsystem...
@Override
public void periodic() {
// --- Read voltage & total current ---
double voltage = m_pdm.getVoltage();
double totalCurrent = m_pdm.getTotalCurrent();
double voltage = conduit.getPDPVoltage();
double totalCurrent = conduit.getPDPTotalCurrent();

// --- Safety alerts ---
if (totalCurrent > PowerConstants.kTotalMaxCurrent) {
new Alert("Total current draw exceeds limit!", AlertType.WARNING).set(true);
}

for (int ch = 0; ch < m_pdm.getNumChannels(); ch++) {
double current = m_pdm.getCurrent(ch);
for (int ch = 0; ch < conduit.getPDPChannelCount(); ch++) {
double current = conduit.getPDPChannelCurrent(ch);
if (current > PowerConstants.kMotorPortMaxCurrent) {
new Alert("Port " + ch + " current exceeds limit!", AlertType.WARNING).set(true);
}
}

// if (voltage < PowerConstants.kVoltageWarning) {
// new Alert("Low battery voltage!", AlertType.WARNING).set(true);
// }
// if (voltage < PowerConstants.kVoltageCritical) {
// new Alert("Critical battery voltage!", AlertType.ERROR).set(true);
// }
if (voltage < PowerConstants.kVoltageWarning) {
new Alert("Low battery voltage!", AlertType.WARNING).set(true);
}
if (voltage < PowerConstants.kVoltageCritical) {
new Alert("Critical battery voltage!", AlertType.ERROR).set(true);
}

// --- Battery estimation ---
long nowUs = RobotController.getFPGATime();
Expand Down Expand Up @@ -123,7 +124,7 @@ public void periodic() {
private void logGroupCurrent(String name, int[] ports) {
double sum = 0.0;
for (int port : ports) {
sum += m_pdm.getCurrent(port);
sum += conduit.getPDPChannelCurrent(port);
}
Logger.recordOutput("Power/Subsystems/" + name + "Current", sum);
}
Expand Down