From 30bdf2d26813834a3b1d1cd290611bc7cdf1d4e3 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 11 Mar 2026 22:52:48 -0400
Subject: [PATCH 1/2] Add logging for power distribution

---
 src/main/java/frc/robot/RobotContainer.java | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1025a93..5d7e9da 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -16,6 +16,7 @@
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -106,6 +107,8 @@ public class RobotContainer {
 
   private final SwerveTelemetry swerveTelemetry = new SwerveTelemetry();
 
+  private final PowerDistribution powerDistribution = new PowerDistribution();
+
   private Debouncer kickerLaserDebouncer = new Debouncer(2.0);
 
   Trigger kickerLaserTrigger = new Trigger(() -> spindexer.kickerLaserBroken());
@@ -249,6 +252,8 @@ public RobotContainer() {
       configureFuelSim();
     }
 
+    SmartDashboard.putData("Power Distribution", powerDistribution);
+
     SmartDashboard.putData(
         "Set Arm Down", intake.runOnce(() -> intake.setArmMaxPosition()).ignoringDisable(true));
     SmartDashboard.putData(

From 5dafe831e5022db922b26a5086095768b4007a55 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 12 Mar 2026 23:24:38 -0400
Subject: [PATCH 2/2] formatting

---
 src/main/java/frc/robot/RobotContainer.java | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0887844..c5bcee9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,9 +15,9 @@
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.PowerDistribution;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -290,8 +290,14 @@ public RobotContainer() {
 
     preShiftShoot.onTrue(Commands.runOnce(() -> canPreShoot = true));
     activeHubTrigger.onFalse(Commands.runOnce(() -> canPreShoot = false));
-    shiftEndingTrigger.onTrue(driverController.rumbleFor(RumbleType.kBothRumble, 1.0, 3).onlyIf(()-> DriverStation.isTeleop()));
-    shiftEndingTrigger.onTrue(operatorController.rumbleFor(RumbleType.kBothRumble, 1.0, 3).onlyIf(()-> DriverStation.isTeleop()));
+    shiftEndingTrigger.onTrue(
+        driverController
+            .rumbleFor(RumbleType.kBothRumble, 1.0, 3)
+            .onlyIf(() -> DriverStation.isTeleop()));
+    shiftEndingTrigger.onTrue(
+        operatorController
+            .rumbleFor(RumbleType.kBothRumble, 1.0, 3)
+            .onlyIf(() -> DriverStation.isTeleop()));
   }
 
   private void configureFuelSim() {