[post-2026] add pdh subsystem

src/main/java/frc/robot/Constants.java

@@ -68,6 +68,39 @@ public static final class RobotConstants {
         public static final Mass TOTAL_MASS = Kilogram.of(107);
         public static final MomentOfInertia MOMENT_OF_INERTIA =
             KilogramSquareMeters.of(6.883);
+
+
+        public static final class CANIDs {
+            public static final class Drive {
+                public static final int IMU = 0;
+
+                public static final class FL {
+                    public static final int DRIVE = 10;
+                    public static final int STEER = 11;
+                    public static final int ENCODER = 12;
+                }
+
+                public static final class FR {
+                    public static final int DRIVE = 7;
+                    public static final int STEER = 8;
+                    public static final int ENCODER = 9;
+                }
+
+                public static final class BL {
+                    public static final int DRIVE = 4;
+                    public static final int STEER = 5;
+                    public static final int ENCODER = 6;
+                }
+
+                public static final class BR {
+                    public static final int DRIVE = 1;
+                    public static final int STEER = 2;
+                    public static final int ENCODER = 3;
+                }
+            }
+
+            public static final int PDH = 13;
+        }
     }
 
     public static final class DriveConstants {
@@ -216,36 +249,6 @@ public static final class Angle {
                 }
             }
         }
-
-        public static class CANIDs {
-            public static final int IMU = 0;
-
-            public static class Modules {
-                public static final class FL {
-                    public static final int DRIVE = 10;
-                    public static final int STEER = 11;
-                    public static final int CANCODER = 12;
-                }
-
-                public static final class FR {
-                    public static final int DRIVE = 7;
-                    public static final int STEER = 8;
-                    public static final int CANCODER = 9;
-                }
-
-                public static final class BL {
-                    public static final int DRIVE = 4;
-                    public static final int STEER = 5;
-                    public static final int CANCODER = 6;
-                }
-
-                public static final class BR {
-                    public static final int DRIVE = 1;
-                    public static final int STEER = 2;
-                    public static final int CANCODER = 3;
-                }
-            }
-        }
     }
 
     public static final class LimelightConstants {

src/main/java/frc/robot/RobotContainer.java

@@ -47,6 +47,7 @@
 import frc.robot.subsystems.drive.SwerveSubsystem;
 import frc.robot.util.AllianceFlipUtil;
 import frc.robot.util.Elastic;
+import frc.robot.subsystems.util.PDHSubsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -74,6 +75,9 @@ public class RobotContainer {
     public static final SwerveSubsystem swerveDriveSubsystem =
         new SwerveSubsystem();
 
+    @Logged
+    public static final PDHSubsystem pdhSubsystem = new PDHSubsystem();
+
     @Logged
     public static final DriveCommand normalDrive = new DriveCommand(
             swerveDriveSubsystem,

src/main/java/frc/robot/subsystems/drive/SwerveSubsystem.java

@@ -200,18 +200,18 @@ public SwerveSubsystem() {
             SwerveModuleConfiguration modules[] = {
                 new SwerveModuleConfiguration(
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.FL.DRIVE,
+                        RobotConstants.CANIDs.Drive.FL.DRIVE,
                         true,
                         DCMotor.getKrakenX60Foc(1)
                     ),
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.FL.STEER,
+                        RobotConstants.CANIDs.Drive.FL.STEER,
                         false,
                         DCMotor.getKrakenX44Foc(1)
                     ),
                     conversionFactors,
                     new CANCoderSwerve(
-                        DriveConstants.CANIDs.Modules.FL.CANCODER
+                        RobotConstants.CANIDs.Drive.FL.ENCODER
                     ),
                     DriveConstants.Modules.Offsets.FL.ANGLE.in(Degrees),
                     DriveConstants.Modules.Offsets.FL.X.in(Meters),
@@ -227,18 +227,18 @@ public SwerveSubsystem() {
                 ),
                 new SwerveModuleConfiguration(
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.FR.DRIVE,
+                        RobotConstants.CANIDs.Drive.FR.DRIVE,
                         true,
                         DCMotor.getKrakenX60Foc(1)
                     ),
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.FR.STEER,
+                        RobotConstants.CANIDs.Drive.FR.STEER,
                         false,
                         DCMotor.getKrakenX44Foc(1)
                     ),
                     conversionFactors,
                     new CANCoderSwerve(
-                        DriveConstants.CANIDs.Modules.FR.CANCODER
+                        RobotConstants.CANIDs.Drive.FR.ENCODER
                     ),
                     DriveConstants.Modules.Offsets.FR.ANGLE.in(Degrees),
                     DriveConstants.Modules.Offsets.FR.X.in(Meters),
@@ -252,18 +252,18 @@ public SwerveSubsystem() {
                 ),
                 new SwerveModuleConfiguration(
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.BL.DRIVE,
+                        RobotConstants.CANIDs.Drive.BL.DRIVE,
                         true,
                         DCMotor.getKrakenX60Foc(1)
                     ),
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.BL.STEER,
+                        RobotConstants.CANIDs.Drive.BL.STEER,
                         false,
                         DCMotor.getKrakenX44Foc(1)
                     ),
                     conversionFactors,
                     new CANCoderSwerve(
-                        DriveConstants.CANIDs.Modules.BL.CANCODER
+                        RobotConstants.CANIDs.Drive.BL.ENCODER
                     ),
                     DriveConstants.Modules.Offsets.BL.ANGLE.in(Degrees),
                     DriveConstants.Modules.Offsets.BL.X.in(Meters),
@@ -277,18 +277,18 @@ public SwerveSubsystem() {
                 ),
                 new SwerveModuleConfiguration(
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.BR.DRIVE,
+                        RobotConstants.CANIDs.Drive.BR.DRIVE,
                         true,
                         DCMotor.getKrakenX60Foc(1)
                     ),
                     new TalonFXSwerve(
-                        DriveConstants.CANIDs.Modules.BR.STEER,
+                        RobotConstants.CANIDs.Drive.BR.STEER,
                         false,
                         DCMotor.getKrakenX44Foc(1)
                     ),
                     conversionFactors,
                     new CANCoderSwerve(
-                        DriveConstants.CANIDs.Modules.BR.CANCODER
+                        RobotConstants.CANIDs.Drive.BR.ENCODER
                     ),
                     DriveConstants.Modules.Offsets.BR.ANGLE.in(Degrees),
                     DriveConstants.Modules.Offsets.BR.X.in(Meters),
@@ -305,7 +305,7 @@ public SwerveSubsystem() {
             SwerveDriveConfiguration driveConfiguration =
                 new SwerveDriveConfiguration(
                     modules,
-                    new Pigeon2Swerve(DriveConstants.CANIDs.IMU),
+                    new Pigeon2Swerve(RobotConstants.CANIDs.Drive.IMU),
                     DriveConstants.IMU.INVERTED,
                     physicalCharacteristics
             );

src/main/java/frc/robot/subsystems/util/PDHSubsystem.java

@@ -0,0 +1,51 @@
+package frc.robot.subsystems.util;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc.robot.Constants.RobotConstants;
+
+public class PDHSubsystem extends SubsystemBase {
+
+    private static final PowerDistribution PDH = new PowerDistribution(
+        RobotConstants.CANIDs.PDH,
+        ModuleType.kRev
+    );
+
+    @Override
+    public void periodic() {
+        // wattage and joule draw is not supported on the rev pdh
+        SmartDashboard.putNumber(
+            "PDH/totalCurrentDraw",
+            PDH.getTotalCurrent()
+        );
+
+        // [documentation](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/PowerDistribution.html#getAllCurrents())
+        // only specifies that this works for the PDP, does not mention rev PDH
+        // but i don't see why not
+        SmartDashboard.putNumberArray(
+            "PDH/channelCurrents",
+            PDH.getAllCurrents()
+        );
+
+        SmartDashboard.putNumber(
+            "PDH/batteryVoltage",
+            PDH.getVoltage()
+        );
+
+        SmartDashboard.putBoolean(
+            "PDH/switchableChannelEnabled",
+            getSwitchableChannel()
+        );
+    }
+
+    public boolean getSwitchableChannel() {
+        return PDH.getSwitchableChannel();
+    }
+
+    public void setSwitchableChannel(boolean value) {
+        PDH.setSwitchableChannel(value);
+    }
+}