Package com.marslib.power

Class MARSPowerManager

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
com.marslib.power.MARSPowerManager
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class MARSPowerManager extends edu.wpi.first.wpilibj2.command.SubsystemBase
Subsystem responsible for monitoring the central Power Distribution Hub (PDH).

Students: This layer pulls input telemetry directly from the physical hardware (Voltage/Current) and actively manages structural alerts. Most importantly, it pushes real-time voltage down into the SwerveDrive subsystem allowing the robot to automatically execute "Load Shedding" to prevent brownouts.

  • Constructor Summary

    Constructors
    Constructor
    Description
    MARSPowerManager(PowerIO io, PowerConfig config)
    Initializes the Power Manager.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    calculateSheddingFactor()
    Helper function for mechanisms to compute dynamically shedded voltage scaling based on the internal PowerConfig thresholds.
    double
    calculateVoltageScaleFactor(double nominalVoltage, double criticalVoltage)
    Helper function for mechanisms to compute dynamically shedded voltage scaling when battery sag impacts structural stability.
    double
    getVoltage()
    Evaluates the absolute bus voltage dynamically.
    boolean
    isCritical()
    Returns true if the system voltage is currently below the critical threshold.
    boolean
    isWarning()
    Returns true if the system voltage is currently below the warning threshold.
    void
    periodic()
    Processes IO loops periodically.

    Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

    addChild, getName, getSubsystem, initSendable, setName, setSubsystem

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Constructor Details

    • MARSPowerManager

      public MARSPowerManager(PowerIO io, PowerConfig config)
      Initializes the Power Manager.
      Parameters:
      io - The selected IO layer (Sim or Hardware PDH) pulling raw voltages.
      config - The power threshold configuration for the robot.

  • Method Details

    • periodic

      public void periodic()
      Processes IO loops periodically. It triggers AdvantageScope "Alerts" if voltage falls below safe structural operating limits.

    • getVoltage

      public double getVoltage()
      Evaluates the absolute bus voltage dynamically.
      Returns:
      The exact system voltage across the PDP/PDH. Usually ~12.5V, dropping during heavy loads.

    • isWarning

      public boolean isWarning()
      Returns true if the system voltage is currently below the warning threshold.

    • isCritical

      public boolean isCritical()
      Returns true if the system voltage is currently below the critical threshold.

    • calculateSheddingFactor

      public double calculateSheddingFactor()
      Helper function for mechanisms to compute dynamically shedded voltage scaling based on the internal PowerConfig thresholds.
      Returns:
      A multiplier [0.0 - 1.0].

    • calculateVoltageScaleFactor

      public double calculateVoltageScaleFactor(double nominalVoltage, double criticalVoltage)
      Helper function for mechanisms to compute dynamically shedded voltage scaling when battery sag impacts structural stability.
      Parameters:
      nominalVoltage - The voltage at which shedding starts.
      criticalVoltage - The voltage at which output is zeroed.
      Returns:
      A multiplier [0.0 - 1.0]. Returns 1.0 when nominal. Scales down towards 0.0 near critical voltage bounds.