Add EnergyMonitor for motor power and energy tracking#73
Open
tytremblay wants to merge 1 commit intomainfrom
Open
Add EnergyMonitor for motor power and energy tracking#73tytremblay wants to merge 1 commit intomainfrom
tytremblay wants to merge 1 commit intomainfrom
Conversation
- Add EnergyMonitor static singleton in EnergyManagement.java - Subsystems report voltage/current; monitor tracks power, energy draw, regen - Per-motor, per-subsystem, and robot-wide aggregation logged to AdvantageKit - Integrate reporting in MotorSubsystem, MotorFollowerSubsystem, Module - Call EnergyMonitor.log() from Robot.robotPeriodic() - Use supply current instead of stator for drive modules (ModuleIOTalonFX, ModuleIOTalonFXS) Made-with: Cursor
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Adds an EnergyMonitor static singleton that tracks power and energy usage for all motors across the robot.
Changes
EnergyManagement.EnergyMonitor: Static singleton that subsystems report voltage/current to
Integration points:
Drive modules: Use supply current instead of stator current (ModuleIOTalonFX, ModuleIOTalonFXS)
AdvantageKit paths
EnergyMonitor/{subsystem}/{motor}/PowerW, etc.EnergyMonitor/{subsystem}/Total/PowerW, etc.EnergyMonitor/Robot/PowerW, etc.Made with Cursor