Current spiking

src/main/java/frc/robot/Robot.java

@@ -14,6 +14,7 @@
 import frc.lib5k.utils.RobotLogger;
 import frc.lib5k.utils.RobotLogger.Level;
 import frc.robot.autonomous.Chooser;
+import frc.robot.autonomous.helpers.CurrentSpiking;
 import frc.robot.commands.DriveControl;
 import frc.robot.commands.OperatorControl;
 import frc.robot.subsystems.CellSuperstructure;
@@ -53,11 +54,11 @@ public class Robot extends TimedRobot {
 	private CommandBase m_autonomousCommand;
 	private DriveControl m_driveControl;
 	private OperatorControl m_operatorControl;
-
+	
 	private Chooser m_autonChooser;
 
 	private boolean m_lastUserState = false;
-
+	private CurrentSpiking m_currentSpike;
 	/**
 	 * This function is run when the robot is first started up and should be used
 	 * for any initialization code.
@@ -116,6 +117,10 @@ public void robotInit() {
 
 		// Report Lib5k
 		RR_HAL.reportFRCVersion("Java", RR_HAL.getLibraryVersion());
+
+		// Creates current spike
+		m_currentSpike = new CurrentSpiking(1, 2);
+
 	}
 
 	@Override
@@ -127,6 +132,9 @@ public void robotPeriodic() {
 
 		}
 
+		// Checks for current spiking
+		m_currentSpike.hitTargetSpike(2);
+
 	}
 
 	@Override
@@ -140,7 +148,7 @@ public void simulationPeriodic() {
 	@Override
 	public void autonomousInit() {
 		logger.log("Robot", "Autonomous started");
-
+		
 		// Determine correct autonomous command to run
 		m_autonomousCommand = m_autonChooser.generateAutonomousCommand();
 
@@ -176,6 +184,7 @@ public void autonomousPeriodic() {
 
 		// Run all scheduled WPILib commands
 		CommandScheduler.getInstance().run();
+
 	}
 
 	@Override

src/main/java/frc/robot/RobotConstants.java

@@ -329,4 +329,10 @@ public static class Pneumatics {
         public static final int PCM_CAN_ID = 8;
     }
 
+    public static class Power{
+
+        // PDP CAN ID
+        public static final int PDP_CAN_ID = 10;
+    }
+
 }

src/main/java/frc/robot/autonomous/helpers/CurrentSpiking.java

@@ -0,0 +1,61 @@
+package frc.robot.autonomous.helpers;
+
+
+import edu.wpi.first.wpilibj.PowerDistributionPanel;
+import frc.robot.RobotConstants;
+import edu.wpi.first.wpilibj.Timer;
+
+public class CurrentSpiking{
+
+    PowerDistributionPanel powerDistributionPanel = new PowerDistributionPanel(RobotConstants.Power.PDP_CAN_ID);
+    private int channel;
+    private double targetSpike;
+    private Timer timer = new Timer();
+    private boolean isNew = true;
+    private double totalCurrent;
+
+    public CurrentSpiking(int channel, double targetSpike){
+        this.channel = channel;
+        this.targetSpike = targetSpike;
+    }
+
+    public double getChannelCurrent(int channel){ 
+        return powerDistributionPanel.getCurrent(channel);
+    }
+
+    public void setTargetSpike(double targetSpike){
+        this.targetSpike = targetSpike;
+    }
+
+    public double getAverage(int... args){
+        totalCurrent = 0;
+        for(int arg : args){
+            totalCurrent += getChannelCurrent(arg);
+        }
+
+        return totalCurrent / args.length;
+    }
+
+
+    public boolean hitTargetSpike(double seconds){
+        if(getChannelCurrent(channel) >= targetSpike){
+            if(isNew){
+                timer.reset();
+                timer.start();
+                isNew = false;
+            }
+
+            if(timer.hasElapsed(seconds)){
+                return true;
+            }
+        }else{
+            isNew = true;
+        }
+
+        return false;
+    }
+
+
+
+
+}