add PDP monitoring

1 files changed, 9 insertions, 1 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index f120ee0..3306486 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -1,14 +1,17 @@
 package org.usfirst.frc.team4272.robot2016;
 
-import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.Talon;
 
+import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+
 public class HwRobot {
 	/* Relay == a Spike */
 	/* PCM = Pneumatics Control Module */
@@ -40,11 +43,13 @@ public class HwRobot {
 	public final DigitalInput ballL = new DigitalInput(/*DIO*/4);
 	public final Encoder   rDriveE = new Encoder(/*DIO*/5,/*DIO*/6);
 	public final Encoder   lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
+	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 
 	public HwRobot() {
 		armE.setPIDSourceType(PIDSourceType.kDisplacement);
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
 		rDriveE.setPIDSourceType(PIDSourceType.kRate);
+		PDP.initTable(NetworkTable.getTable("PDP"));
 	}
 
 	public void run(Control c) {
@@ -67,5 +72,8 @@ public class HwRobot {
 		SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate());
 		SmartDashboard.putBoolean("ballL", ballL.get());
 		SmartDashboard.putBoolean("armL", armL.get());
+
+		PDP.updateTable();
+		SmartDashboard.putData("PDP", PDP);
 	}
 }