fix amp reading

MiamiBeachBots · Jan 18, 2025 · dec306a · dec306a
1 parent 81cb773
commit dec306a
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Showing 3 changed files with 3 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -201,7 +201,7 @@ public void simulationPeriodic() {
 
     // add load to battery
     RoboRioSim.setVInVoltage(
-        BatterySim.calculateDefaultBatteryLoadedVoltage(m_simMotor.getMotorCurrent()));
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_ArmSim.getCurrentDrawAmps()));
 
     // update encoder
     m_ArmEncoderSim.setPosition(m_ArmSim.getAngleRads());

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -583,8 +583,7 @@ public void simulationPeriodic() {
         m_driveTrainSim.getRightVelocityMetersPerSecond(), RoboRioSim.getVInVoltage(), 0.02);
     // add load to battery
     RoboRioSim.setVInVoltage(
-        BatterySim.calculateDefaultBatteryLoadedVoltage(
-            m_leftSim.getMotorCurrent() + m_rightSim.getMotorCurrent()));
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_driveTrainSim.getCurrentDrawAmps()));
     // update sensors
     SimGyroAngleHandler.set(-m_driveTrainSim.getHeading().getDegrees());
     m_leftEncoderSim.setPosition(m_driveTrainSim.getLeftPositionMeters());

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
@@ -199,7 +199,7 @@ public void simulationPeriodic() {
 
     // add load to battery
     RoboRioSim.setVInVoltage(
-        BatterySim.calculateDefaultBatteryLoadedVoltage(m_simMotor.getMotorCurrent()));
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_ElevatorSim.getCurrentDrawAmps()));
 
     // update encoder
     m_ElevatorEncoderSim.setPosition(m_ElevatorSim.getPositionMeters());