voltage warnings

src/main/java/com/team766/robot/OI.java

@@ -17,10 +17,11 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import com.team766.robot.mechanisms.Drive;
 
-/**
+/*
  * This class is the glue that binds the controls on the physical operator
  * interface to the code that allow control of the robot.
- */
+*/
+
 public class OI extends Procedure {
 	private JoystickReader leftJoystick;
 	private JoystickReader rightJoystick;
@@ -56,6 +57,7 @@ public void run(Context context) {
 		context.takeOwnership(Robot.grabber);
 		context.takeOwnership(Robot.storage);
 		context.takeOwnership(Robot.gyro);
+		context.takeOwnership(Robot.voltageController);
 
 		CameraServer.startAutomaticCapture();
 
@@ -79,6 +81,9 @@ public void run(Context context) {
 			// 	SmartDashboard.putString("Alliance", "NULLLLLLLLL");
 			// }
 
+			Robot.voltageController.displayPower();
+			Robot.voltageController.powerWarning();
+			Robot.voltageController.currentWarning();
 
 			if (controlPanel.getButtonPressed(InputConstants.RESET_GYRO)) {
 				Robot.gyro.resetGyro();

src/main/java/com/team766/robot/Robot.java

@@ -10,6 +10,7 @@ public class Robot {
 	public static Grabber grabber;
 	public static Arms arms;
 	public static Gyro gyro;
+	public static VoltageController voltageController;
 
 	public static void robotInit() {
 		// Initialize mechanisms here
@@ -19,5 +20,6 @@ public static void robotInit() {
 		grabber = new Grabber();
 		arms = new Arms();
 		gyro = new Gyro();
+		voltageController = new VoltageController();
 	}
 }

src/main/java/com/team766/robot/mechanisms/VoltageController.java

@@ -0,0 +1,49 @@
+package com.team766.robot.mechanisms;
+
+import com.team766.framework.Mechanism;
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class VoltageController extends Mechanism {
+	private double voltage;
+	private String voltageReport;
+	private PowerDistribution powerDist;
+	private double current;
+	private String currentReport;
+
+	public VoltageController(){
+		powerDist = new PowerDistribution(1, ModuleType.kRev);
+		voltage = powerDist.getVoltage();
+		current = powerDist.getTotalCurrent();
+	}
+
+	public void powerWarning(){
+		voltage = powerDist.getVoltage();
+		if(voltage <= 8.5){
+			voltageReport = "VOLTAGE TOO LOW!!!";
+		} else {
+			voltageReport = "voltage is normal :-)";
+		}
+		SmartDashboard.putString("Voltage Warning", voltageReport);
+	}
+
+	public void currentWarning(){
+		current = powerDist.getTotalCurrent();
+		if(current >= 140.0){
+			currentReport = "WARNING!!! USING TOO MUCH POWER!";
+		} else {
+			currentReport = "power levels are safe :-)";
+		}
+		SmartDashboard.putString("Power Warning", currentReport);
+	}
+
+	public void displayPower(){
+		voltage = powerDist.getVoltage();
+		current = powerDist.getTotalCurrent();
+		SmartDashboard.putNumber("Voltage", voltage);
+		SmartDashboard.putNumber("Total Current", current);
+	}
+
+
+}