From 55a3a544302c43824367d8ebef74d8142f99c3d2 Mon Sep 17 00:00:00 2001
From: Shaun Mathew <143555953+SpeedSlicer@users.noreply.github.com>
Date: Sat, 4 Apr 2026 15:20:15 -0400
Subject: [PATCH 1/5] power

---
 .../subsystems/drive/DriveSubsystem.java      | 35 ++++++++++++-------
 .../frc/robot/subsystems/hood/HoodIO.java     |  2 ++
 .../frc/robot/subsystems/hood/HoodIOReal.java |  3 +-
 .../frc/robot/subsystems/hood/HoodIOSim.java  |  2 ++
 .../frc/robot/subsystems/intake/IntakeIO.java |  2 ++
 .../robot/subsystems/intake/IntakeIOReal.java |  3 +-
 .../robot/subsystems/intake/IntakeIOSim.java  |  2 ++
 .../intakeRollers/IntakeRollerIO.java         |  2 ++
 .../intakeRollers/IntakeRollerIOReal.java     |  2 ++
 .../intakeRollers/IntakeRollerIOSim.java      |  2 ++
 .../frc/robot/subsystems/kicker/KickerIO.java |  2 ++
 .../robot/subsystems/kicker/KickerIOReal.java |  2 ++
 .../robot/subsystems/kicker/KickerIOSim.java  |  2 ++
 .../frc/robot/subsystems/module/Module.java   | 12 +++++++
 .../frc/robot/subsystems/module/ModuleIO.java |  6 ++++
 .../robot/subsystems/module/ModuleIOReal.java |  6 ++++
 .../robot/subsystems/module/ModuleIOSim.java  |  8 +++++
 .../robot/subsystems/shooter/ShooterIO.java   |  8 +++++
 .../subsystems/shooter/ShooterIOReal.java     |  7 +++-
 .../subsystems/shooter/ShooterIOSim.java      |  7 +++-
 .../subsystems/spindexer/SpindexerIO.java     |  2 ++
 .../subsystems/spindexer/SpindexerIOReal.java |  2 ++
 .../subsystems/spindexer/SpindexerIOSim.java  |  4 +++
 .../frc/robot/subsystems/turret/TurretIO.java |  2 ++
 .../robot/subsystems/turret/TurretIOReal.java |  2 ++
 .../robot/subsystems/turret/TurretIOSim.java  |  3 ++
 26 files changed, 113 insertions(+), 17 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index 34c7c837..ce5c4a51 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -77,19 +77,18 @@ public DriveSubsystem(Gyro gyro) {
     modules[3] = new Module(DriveSubsystem.getIOByMode(DriveConstants.BR), PivotId.BR);
 
     // custom format
-    sysIdRoutine =
-        new SwerveDriveSysidRoutine()
-            .createNewRoutine(
-                modules[0],
-                modules[1],
-                modules[2],
-                modules[3],
-                this,
-                new SysIdRoutine.Config(
-                    Volts.per(Seconds).of(1),
-                    Volts.of(8),
-                    Seconds.of(15),
-                    (state) -> Logger.recordOutput("SysIdTestState", state.toString())));
+    sysIdRoutine = new SwerveDriveSysidRoutine()
+        .createNewRoutine(
+            modules[0],
+            modules[1],
+            modules[2],
+            modules[3],
+            this,
+            new SysIdRoutine.Config(
+                Volts.per(Seconds).of(1),
+                Volts.of(8),
+                Seconds.of(15),
+                (state) -> Logger.recordOutput("SysIdTestState", state.toString())));
     // spotless format
 
     try {
@@ -139,12 +138,22 @@ public void periodic() {
 
     double totalDriveCurrent = 0;
     double totalSteerCurrent = 0;
+    double totalDrawJoules = 0;
+    double totalDriveWattage = 0;
+    double totalSteerWattage = 0;
     for (Module module : modules) {
       totalDriveCurrent += module.getDriveCurrent();
       totalSteerCurrent += module.getSteerCurrent();
+      totalDrawJoules += module.getTotalDrawJoules();
+      totalDriveWattage += module.getDriveWattage();
+      totalSteerWattage += module.getSteerWattage();
     }
+
     Logger.recordOutput("Subsystems/Drive/totalDriveCurrent", totalDriveCurrent);
     Logger.recordOutput("Subsystems/Drive/totalSteerCurrent", totalSteerCurrent);
+    Logger.recordOutput("Subsystems/Drive/totalDriveWattage", totalDriveWattage);
+    Logger.recordOutput("Subsystems/Drive/totalSteerWattage", totalSteerWattage);
+    Logger.recordOutput("Subsystems/Drive/totalPowerDrawJoules", totalDrawJoules);
   }
 
   private void stop() {
diff --git a/src/main/java/frc/robot/subsystems/hood/HoodIO.java b/src/main/java/frc/robot/subsystems/hood/HoodIO.java
index fee2cc92..8e46a762 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodIO.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodIO.java
@@ -18,6 +18,8 @@ public class HoodIOInputs {
     public double motorCurrent;
     public double motorVoltage;
     public double motorTemperatureCelsius;
+    public double motorDrawJoules = 0;
+    public double motorWattage;
   }
 
   public default void setAngleRadians(double angle) {
diff --git a/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java b/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java
index 6c6e53d7..e12d1886 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java
@@ -60,7 +60,8 @@ public void updateInputs(HoodIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorVoltage = m_motor.getAppliedOutput() * m_motor.getBusVoltage();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
-
+    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
     Logger.recordOutput("Subsystems/Hood/encoderPositionRaw", m_encoder.getPosition());
   }
 
diff --git a/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java b/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java
index 6fb6c86b..963e1212 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java
@@ -51,6 +51,8 @@ public void updateInputs(HoodIOInputs inputs) {
     inputs.angularVelocityDegreesPerSec = inputs.angularVelocityRadPerSec * 180 / Math.PI;
     inputs.motorCurrent = m_motor.getCurrentDrawAmps();
     inputs.motorVoltage = m_motor.getInputVoltage();
+    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
     inputs.motorTemperatureCelsius = 0;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
index 1003c647..2508a132 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -12,6 +12,8 @@ public static class IntakeIOInputs {
     public double velocityRadPerSec;
     public double positionDegrees;
     public double velocityDegreesPerSec;
+    public double motorDrawJoules = 0;
+    public double motorWattage;
   }
 
   public default void updateInputs(IntakeIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java
index 5b07f3b7..6626ddd6 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java
@@ -86,7 +86,8 @@ public void updateInputs(IntakeIOInputs inputs) {
     inputs.velocityRadPerSec = m_encoder.getVelocity() * IntakeConstants.intakeEncoderToRadiansConversion; // rad/s
     inputs.positionDegrees = inputs.positionRadians * 180 / Math.PI; // degrees
     inputs.velocityDegreesPerSec = inputs.velocityRadPerSec * 180 / Math.PI; // deg/s
-
+    inputs.motorDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
     Logger.recordOutput("Subsystems/Intake/encoderPositionRaw", m_encoder.getPosition());
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
index 0d96dd66..12503226 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -51,6 +51,8 @@ public void updateInputs(IntakeIOInputs inputs) {
     inputs.velocityRadPerSec = m_motor.getAngularVelocityRadPerSec(); // rad/s
     inputs.positionDegrees = inputs.positionRadians * 180 / Math.PI;
     inputs.velocityDegreesPerSec = inputs.velocityRadPerSec * 180 / Math.PI;
+    inputs.motorDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
 
     intakeLigament.setAngle(90 - Units.radiansToDegrees(m_motor.getAngularPositionRad()));
   }
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java
index 58299e2b..c5863a08 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java
@@ -9,6 +9,8 @@ public static class IntakeRollerIOInputs {
     public double motorTemperatureCelsius;
     public double motorCurrent;
     public double encoderVelocityRadiansPerSecond;
+    public double motorDrawJoules = 0;
+    public double motorWattage;
   }
 
   public default void updateInputs(IntakeRollerIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
index 6b7f6fc3..73c5b004 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
@@ -45,5 +45,7 @@ public void updateInputs(IntakeRollerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent(); // amps
     inputs.motorVoltage = m_motor.getAppliedOutput() * m_motor.getBusVoltage(); // volts
     inputs.encoderVelocityRadiansPerSecond = m_encoder.getVelocity() * 2 * Math.PI / 60; // rad/s
+    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02; // J
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java
index 5d9c87fb..764e2754 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java
@@ -41,5 +41,7 @@ public void updateInputs(IntakeRollerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getCurrentDrawAmps(); // amps
     inputs.motorVoltage = m_motor.getInputVoltage(); // volts
     inputs.encoderVelocityRadiansPerSecond = m_motor.getAngularVelocityRadPerSec(); // rad/s
+    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02; // J
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIO.java b/src/main/java/frc/robot/subsystems/kicker/KickerIO.java
index 894208be..e4088d5b 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIO.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIO.java
@@ -10,6 +10,8 @@ public class KickerIOInputs {
     public double motorTemperatureCelsius;
     public double motorVelocityRadPerSec;
     public double motorVelocityRPM;
+    public double motorDrawJoules = 0;
+    public double motorWattage;
   }
 
   public default void setVelocity(double velocity) {
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
index 2b92faf9..fca5241a 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
@@ -39,5 +39,7 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.motorVelocityRadPerSec = m_encoder.getVelocity() * 2 * Math.PI / 60;
     inputs.motorVelocityRPM = m_encoder.getVelocity();
+    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
index a0a3f9da..5c72f044 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
@@ -36,5 +36,7 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorTemperatureCelsius = 0;
     inputs.motorVelocityRadPerSec = m_motorSim.getAngularVelocityRadPerSec();
     inputs.motorVelocityRPM = m_motorSim.getAngularVelocityRPM();
+    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/module/Module.java b/src/main/java/frc/robot/subsystems/module/Module.java
index a8a00866..d731aeab 100644
--- a/src/main/java/frc/robot/subsystems/module/Module.java
+++ b/src/main/java/frc/robot/subsystems/module/Module.java
@@ -149,4 +149,16 @@ public SwerveModulePosition getPosition() {
   public double getVelocity() {
     return inputs.driveVelocityMetersPerSecond;
   }
+
+  public double getTotalDrawJoules() {
+    return inputs.totalDrawJoules;
+  }
+
+  public double getDriveWattage() {
+    return inputs.driveWattage;
+  }
+
+  public double getSteerWattage() {
+    return inputs.steerWattage;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIO.java b/src/main/java/frc/robot/subsystems/module/ModuleIO.java
index 7d713737..aac31206 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIO.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIO.java
@@ -26,7 +26,13 @@ public static class ModuleIOInputs {
     public double steerEncoderRawValue;
     public double steerEncoderRelative;
     // public int rawEncoderValue;
+    public double driveDrawJoules = 0;
+    public double steerDrawJoules = 0;
+    public double totalDrawJoules = 0;
 
+    public double driveWattage;
+    public double steerWattage;
+    public double totalWattage;
     public double[] odometryTimestamps = new double[]{};
     public double[] odometryDrivePositionsMeters = new double[]{};
     public Rotation2d[] odometryTurnPositions = new Rotation2d[]{};
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
index 56e5b88b..e5ba6839 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
@@ -97,6 +97,12 @@ public void updateInputs(ModuleIOInputs inputs) {
         .mapToDouble((Double value) -> -(value / DriveConstants.driveGearRatio) / 60
             * DriveConstants.wheelRadius * 2 * Math.PI)
         .toArray();
+    inputs.driveDrawJoules += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
+    inputs.steerDrawJoules += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
+    inputs.totalDrawJoules += inputs.driveDrawJoules + inputs.steerDrawJoules;
+    inputs.driveWattage = inputs.driveAppliedVoltage * inputs.driveCurrentAmps;
+    inputs.steerWattage = inputs.steerAppliedVoltage * inputs.steerCurrentAmps;
+    inputs.totalDrawJoules = inputs.driveWattage + inputs.steerWattage;
 
     timestampQueue.clear();
     drivePositionQueue.clear();
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java
index 5d673bd2..d93290fb 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java
@@ -86,6 +86,14 @@ public void updateInputs(ModuleIOInputs inputs) {
     inputs.odometryDrivePositionsMeters = new double[]{inputs.drivePositionMeters};
     inputs.odometryTurnPositions = new Rotation2d[]{Rotation2d.fromDegrees(inputs.steerAngleDegrees)};
     inputs.driveVelocities = new double[]{inputs.driveVelocityMetersPerSecond};
+
+    inputs.driveDrawJoules += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
+    inputs.steerDrawJoules += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
+    inputs.totalDrawJoules += inputs.driveDrawJoules + inputs.steerDrawJoules;
+    inputs.driveWattage = inputs.driveAppliedVoltage * inputs.driveCurrentAmps;
+    inputs.steerWattage = inputs.steerAppliedVoltage * inputs.steerCurrentAmps;
+    inputs.totalDrawJoules = inputs.driveWattage + inputs.steerWattage;
+
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index a6857063..5c2707c9 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -22,6 +22,14 @@ public class ShooterIOInputs {
     public double followerMotorTemperatureCelsius;
     public double followerMotorPositionRotations;
 
+    public double leaderDrawJoules = 0;
+    public double followerDrawJoules = 0;
+    public double totalDrawJoules = 0;
+
+    public double leaderWattage;
+    public double followerWattage;
+    public double totalWattage;
+
     public double averageVoltage;
   }
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
index e4f8d528..8137a726 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
@@ -77,7 +77,12 @@ public void updateInputs(ShooterIOInputs inputs) {
     inputs.followerMotorTemperatureCelsius = m_followerMotor.getMotorTemperature(); // celsius
     inputs.followerMotorCurrent = m_followerMotor.getOutputCurrent(); // amps
     inputs.followerMotorPositionRotations = m_followerEncoder.getPosition(); // rotations
-
+    inputs.leaderDrawJoules += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
+    inputs.followerDrawJoules += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
+    inputs.totalDrawJoules += inputs.leaderDrawJoules + inputs.followerDrawJoules; // J
+    inputs.leaderWattage = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
+    inputs.followerWattage = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
+    inputs.totalWattage = inputs.leaderWattage + inputs.followerWattage; // W
     inputs.averageVoltage = (inputs.leaderMotorVoltage + inputs.followerMotorVoltage) / 2.0; // rad/s
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
index 9b71becb..5384155d 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -61,7 +61,12 @@ public void updateInputs(ShooterIOInputs inputs) {
     inputs.followerMotorVoltage = m_motor.getInputVoltage();
     inputs.followerMotorTemperatureCelsius = 0;
     inputs.followerMotorPositionRotations = m_motor.getAngularPositionRotations();
-
+    inputs.leaderDrawJoules += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
+    inputs.followerDrawJoules += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
+    inputs.totalDrawJoules += inputs.leaderDrawJoules + inputs.followerDrawJoules; // J
+    inputs.leaderWattage = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
+    inputs.followerWattage = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
+    inputs.totalWattage = inputs.leaderWattage + inputs.followerWattage; // W
     inputs.averageVoltage = m_motor.getInputVoltage();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
index 74ccf8c6..8b262864 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
@@ -11,6 +11,8 @@ public static class SpindexerIOInputs {
     public double motorCurrent = 0.0;
     public double motorTemperatureCelsius = 0.0;
     public boolean isJammed = false;
+    public double motorTotalDrawJoules = 0.0;
+    public double motorWattage;
   }
 
   public default void updateInputs(SpindexerIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
index 9e4d4717..dd118237 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
@@ -31,5 +31,7 @@ public void updateInputs(SpindexerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.isJammed = m_currentEma.get() > SpindexerConstants.jamCurrentThresh;
+    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
index 8d477ec1..387f6e68 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
@@ -6,6 +6,7 @@
 
 public class SpindexerIOSim implements SpindexerIO {
   private final DCMotorSim m_motorSim;
+
   public SpindexerIOSim() {
     DCMotor motorGearboxSim = DCMotor.getNEO(1);
 
@@ -29,5 +30,8 @@ public void updateInputs(SpindexerIOInputs inputs) {
     inputs.motorCurrent = m_motorSim.getCurrentDrawAmps();
     inputs.motorTemperatureCelsius = 0.0;
     inputs.isJammed = false;
+    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/robot/subsystems/turret/TurretIO.java
index f8203c6a..3ed69fc7 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretIO.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIO.java
@@ -15,6 +15,8 @@ public class TurretIOInputs {
     public double motorCurrent;
     public double motorVoltage;
     public double motorTemperatureCelsius;
+    public double motorTotalDrawJoules = 0;
+    public double motorWattage;
   }
 
   public default void setTurretState(ShotSetpoint setpoint) {
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java b/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java
index 7194fbdd..04367e9e 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java
@@ -73,6 +73,8 @@ public void updateInputs(TurretIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorVoltage = m_motor.getBusVoltage() * m_motor.getAppliedOutput();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
+    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
 
     Logger.recordOutput("Subsystems/Turret/encoderPositionRawVolts", m_encoder.getPosition());
     Logger.recordOutput("Subsystems/Turret/encoderVelocityRawVoltsPerSecond", m_encoder.getVelocity());
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java b/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java
index c1f37407..39e0a346 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java
@@ -44,5 +44,8 @@ public void updateInputs(TurretIOInputs inputs) {
     inputs.motorCurrent = m_motor.getCurrentDrawAmps();
     inputs.motorVoltage = m_motor.getInputVoltage();
     inputs.motorTemperatureCelsius = 0;
+    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+
   }
 }

From be57e1371541c1f8bc0a10dd6159e165bcdb8c2c Mon Sep 17 00:00:00 2001
From: Shaun Mathew <143555953+SpeedSlicer@users.noreply.github.com>
Date: Wed, 22 Apr 2026 19:28:35 -0400
Subject: [PATCH 2/5] pushg

---
 .../java/frc/robot/subsystems/intake/IntakeIO.java |  4 ++--
 .../frc/robot/subsystems/intake/IntakeIOReal.java  |  4 ++--
 .../frc/robot/subsystems/intake/IntakeIOSim.java   |  4 ++--
 .../subsystems/intakeRollers/IntakeRollerIO.java   |  4 ++--
 .../intakeRollers/IntakeRollerIOReal.java          |  5 +++--
 .../intakeRollers/IntakeRollerIOSim.java           |  4 ++--
 .../java/frc/robot/subsystems/kicker/KickerIO.java |  4 ++--
 .../frc/robot/subsystems/kicker/KickerIOReal.java  |  4 ++--
 .../frc/robot/subsystems/kicker/KickerIOSim.java   |  4 ++--
 .../java/frc/robot/subsystems/module/Module.java   |  6 +++---
 .../java/frc/robot/subsystems/module/ModuleIO.java | 12 ++++++------
 .../frc/robot/subsystems/module/ModuleIOReal.java  | 12 ++++++------
 .../frc/robot/subsystems/module/ModuleIOSim.java   | 12 ++++++------
 .../frc/robot/subsystems/shooter/ShooterIO.java    | 12 ++++++------
 .../robot/subsystems/shooter/ShooterIOReal.java    | 14 ++++++++------
 .../frc/robot/subsystems/shooter/ShooterIOSim.java | 12 ++++++------
 .../robot/subsystems/spindexer/SpindexerIO.java    |  4 ++--
 .../subsystems/spindexer/SpindexerIOReal.java      |  4 ++--
 .../robot/subsystems/spindexer/SpindexerIOSim.java |  4 ++--
 19 files changed, 66 insertions(+), 63 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
index 891c6a7d..7f0b15ad 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -12,8 +12,8 @@ public static class IntakeIOInputs {
     public double velocityRadPerSec;
     public double positionDegrees;
     public double velocityDegreesPerSec;
-    public double motorDrawJoules = 0;
-    public double motorWattage;
+    public double motorTotalEnergy = 0;
+    public double motorPower;
   }
 
   public default void updateInputs(IntakeIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java
index 36263b36..ec136760 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java
@@ -107,8 +107,8 @@ public void updateInputs(IntakeIOInputs inputs) {
     inputs.velocityRadPerSec = getVelocityRadPerSec(); // rad/s
     inputs.positionDegrees = inputs.positionRadians * 180 / Math.PI; // degrees
     inputs.velocityDegreesPerSec = inputs.velocityRadPerSec * 180 / Math.PI; // deg/s
-    inputs.motorDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
     Logger.recordOutput("Subsystems/Intake/encoderPositionRaw", m_encoder.getPosition());
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
index b9624a99..68c9c59d 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -51,8 +51,8 @@ public void updateInputs(IntakeIOInputs inputs) {
     inputs.velocityRadPerSec = m_motor.getAngularVelocityRadPerSec(); // rad/s
     inputs.positionDegrees = inputs.positionRadians * 180 / Math.PI;
     inputs.velocityDegreesPerSec = inputs.velocityRadPerSec * 180 / Math.PI;
-    inputs.motorDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02; 
+    inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
 
     intakeLigament.setAngle(90 - Units.radiansToDegrees(m_motor.getAngularPositionRad()));
   }
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java
index c5863a08..0d77f3d9 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIO.java
@@ -9,8 +9,8 @@ public static class IntakeRollerIOInputs {
     public double motorTemperatureCelsius;
     public double motorCurrent;
     public double encoderVelocityRadiansPerSecond;
-    public double motorDrawJoules = 0;
-    public double motorWattage;
+    public double motorTotalEnergy = 0;
+    public double motorPower;
   }
 
   public default void updateInputs(IntakeRollerIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
index 73c5b004..ccb7fd69 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
@@ -45,7 +45,8 @@ public void updateInputs(IntakeRollerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent(); // amps
     inputs.motorVoltage = m_motor.getAppliedOutput() * m_motor.getBusVoltage(); // volts
     inputs.encoderVelocityRadiansPerSecond = m_encoder.getVelocity() * 2 * Math.PI / 60; // rad/s
-    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02; // J
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
+    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02; // J
+    inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
   }
 }
+ 
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java
index 764e2754..d681b015 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOSim.java
@@ -41,7 +41,7 @@ public void updateInputs(IntakeRollerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getCurrentDrawAmps(); // amps
     inputs.motorVoltage = m_motor.getInputVoltage(); // volts
     inputs.encoderVelocityRadiansPerSecond = m_motor.getAngularVelocityRadPerSec(); // rad/s
-    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02; // J
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
+    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02; // J
+    inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIO.java b/src/main/java/frc/robot/subsystems/kicker/KickerIO.java
index e4088d5b..bdd4ae2f 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIO.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIO.java
@@ -10,8 +10,8 @@ public class KickerIOInputs {
     public double motorTemperatureCelsius;
     public double motorVelocityRadPerSec;
     public double motorVelocityRPM;
-    public double motorDrawJoules = 0;
-    public double motorWattage;
+    public double motorTotalEnergy = 0;
+    public double motorPower;
   }
 
   public default void setVelocity(double velocity) {
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
index 5b9770c7..f347bc67 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
@@ -39,7 +39,7 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.motorVelocityRadPerSec = m_encoder.getVelocity() * 2 * Math.PI / 60;
     inputs.motorVelocityRPM = m_encoder.getVelocity();
-    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent; // W
+    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
index 5c72f044..56ee2049 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
@@ -36,7 +36,7 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorTemperatureCelsius = 0;
     inputs.motorVelocityRadPerSec = m_motorSim.getAngularVelocityRadPerSec();
     inputs.motorVelocityRPM = m_motorSim.getAngularVelocityRPM();
-    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorCurrent;
+    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/module/Module.java b/src/main/java/frc/robot/subsystems/module/Module.java
index bb00a5de..bdd1f6c8 100644
--- a/src/main/java/frc/robot/subsystems/module/Module.java
+++ b/src/main/java/frc/robot/subsystems/module/Module.java
@@ -156,14 +156,14 @@ public double getVelocity() {
   }
 
   public double getTotalDrawJoules() {
-    return inputs.totalDrawJoules;
+    return inputs.totalEnergy;
   }
 
   public double getDriveWattage() {
-    return inputs.driveWattage;
+    return inputs.drivePower;
   }
 
   public double getSteerWattage() {
-    return inputs.steerWattage;
+    return inputs.steerPower;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIO.java b/src/main/java/frc/robot/subsystems/module/ModuleIO.java
index aac31206..72f3cc0c 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIO.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIO.java
@@ -26,13 +26,13 @@ public static class ModuleIOInputs {
     public double steerEncoderRawValue;
     public double steerEncoderRelative;
     // public int rawEncoderValue;
-    public double driveDrawJoules = 0;
-    public double steerDrawJoules = 0;
-    public double totalDrawJoules = 0;
+    public double driveTotalEnergy = 0;
+    public double steerTotalEnergy = 0;
+    public double totalEnergy = 0;
 
-    public double driveWattage;
-    public double steerWattage;
-    public double totalWattage;
+    public double drivePower;
+    public double steerPower;
+    public double totalPower;
     public double[] odometryTimestamps = new double[]{};
     public double[] odometryDrivePositionsMeters = new double[]{};
     public Rotation2d[] odometryTurnPositions = new Rotation2d[]{};
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
index e5ba6839..5f546410 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
@@ -97,12 +97,12 @@ public void updateInputs(ModuleIOInputs inputs) {
         .mapToDouble((Double value) -> -(value / DriveConstants.driveGearRatio) / 60
             * DriveConstants.wheelRadius * 2 * Math.PI)
         .toArray();
-    inputs.driveDrawJoules += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
-    inputs.steerDrawJoules += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
-    inputs.totalDrawJoules += inputs.driveDrawJoules + inputs.steerDrawJoules;
-    inputs.driveWattage = inputs.driveAppliedVoltage * inputs.driveCurrentAmps;
-    inputs.steerWattage = inputs.steerAppliedVoltage * inputs.steerCurrentAmps;
-    inputs.totalDrawJoules = inputs.driveWattage + inputs.steerWattage;
+    inputs.driveTotalEnergy += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
+    inputs.steerTotalEnergy += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
+    inputs.totalEnergy = inputs.driveTotalEnergy + inputs.steerTotalEnergy;
+    inputs.drivePower = inputs.driveAppliedVoltage * inputs.driveCurrentAmps;
+    inputs.steerPower = inputs.steerAppliedVoltage * inputs.steerCurrentAmps;
+    inputs.totalPower = inputs.drivePower + inputs.steerPower;
 
     timestampQueue.clear();
     drivePositionQueue.clear();
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java
index d93290fb..79b0959b 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIOSim.java
@@ -87,12 +87,12 @@ public void updateInputs(ModuleIOInputs inputs) {
     inputs.odometryTurnPositions = new Rotation2d[]{Rotation2d.fromDegrees(inputs.steerAngleDegrees)};
     inputs.driveVelocities = new double[]{inputs.driveVelocityMetersPerSecond};
 
-    inputs.driveDrawJoules += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
-    inputs.steerDrawJoules += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
-    inputs.totalDrawJoules += inputs.driveDrawJoules + inputs.steerDrawJoules;
-    inputs.driveWattage = inputs.driveAppliedVoltage * inputs.driveCurrentAmps;
-    inputs.steerWattage = inputs.steerAppliedVoltage * inputs.steerCurrentAmps;
-    inputs.totalDrawJoules = inputs.driveWattage + inputs.steerWattage;
+    inputs.driveTotalEnergy += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
+    inputs.steerTotalEnergy += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
+    inputs.totalEnergy = inputs.driveTotalEnergy + inputs.steerTotalEnergy;
+    inputs.drivePower = inputs.driveAppliedVoltage * inputs.driveCurrentAmps;
+    inputs.steerPower = inputs.steerAppliedVoltage * inputs.steerCurrentAmps;
+    inputs.totalPower = inputs.drivePower + inputs.steerPower;
 
   }
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index 59cf85d9..1134aed2 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -22,13 +22,13 @@ public class ShooterIOInputs {
     public double followerMotorTemperatureCelsius;
     public double followerMotorPositionRotations;
 
-    public double leaderDrawJoules = 0;
-    public double followerDrawJoules = 0;
-    public double totalDrawJoules = 0;
+    public double leaderTotalEnergy = 0;
+    public double followerTotalEnergy = 0;
+    public double totalEnergy = 0;
 
-    public double leaderWattage;
-    public double followerWattage;
-    public double totalWattage;
+    public double leaderPower;
+    public double followerPower;
+    public double totalPower;
 
     public double averageVoltage;
   }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
index 63839b0c..0265f7da 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
@@ -89,12 +89,14 @@ public void updateInputs(ShooterIOInputs inputs) {
     inputs.followerMotorTemperatureCelsius = m_followerMotor.getMotorTemperature(); // celsius
     inputs.followerMotorCurrent = m_followerMotor.getOutputCurrent(); // amps
     inputs.followerMotorPositionRotations = m_followerEncoder.getPosition(); // rotations
-    inputs.leaderDrawJoules += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
-    inputs.followerDrawJoules += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
-    inputs.totalDrawJoules += inputs.leaderDrawJoules + inputs.followerDrawJoules; // J
-    inputs.leaderWattage = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
-    inputs.followerWattage = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
-    inputs.totalWattage = inputs.leaderWattage + inputs.followerWattage; // W
+
+    inputs.leaderTotalEnergy += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
+    inputs.followerTotalEnergy += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
+    inputs.totalEnergy = inputs.leaderTotalEnergy + inputs.followerTotalEnergy; // J
+    inputs.leaderPower = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
+    inputs.followerPower = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
+    inputs.totalPower = inputs.leaderPower + inputs.followerPower; // W
+
     inputs.averageVoltage = (inputs.leaderMotorVoltage + inputs.followerMotorVoltage) / 2.0; // rad/s
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
index 02077c88..e8801e4a 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -61,12 +61,12 @@ public void updateInputs(ShooterIOInputs inputs) {
     inputs.followerMotorVoltage = m_motor.getInputVoltage();
     inputs.followerMotorTemperatureCelsius = 0;
     inputs.followerMotorPositionRotations = m_motor.getAngularPositionRotations();
-    inputs.leaderDrawJoules += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
-    inputs.followerDrawJoules += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
-    inputs.totalDrawJoules += inputs.leaderDrawJoules + inputs.followerDrawJoules; // J
-    inputs.leaderWattage = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
-    inputs.followerWattage = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
-    inputs.totalWattage = inputs.leaderWattage + inputs.followerWattage; // W
+    inputs.leaderTotalEnergy += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
+    inputs.followerTotalEnergy += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
+    inputs.totalEnergy = inputs.leaderTotalEnergy + inputs.followerTotalEnergy; // J
+    inputs.leaderPower = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
+    inputs.followerPower = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
+    inputs.totalPower = inputs.leaderPower + inputs.followerPower; // W
     inputs.averageVoltage = m_motor.getInputVoltage();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
index 8b262864..5cbcf13e 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
@@ -11,8 +11,8 @@ public static class SpindexerIOInputs {
     public double motorCurrent = 0.0;
     public double motorTemperatureCelsius = 0.0;
     public boolean isJammed = false;
-    public double motorTotalDrawJoules = 0.0;
-    public double motorWattage;
+    public double motorEnergyDraw = 0.0;
+    public double motorPower;
   }
 
   public default void updateInputs(SpindexerIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
index dd118237..d11f9cfa 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
@@ -31,7 +31,7 @@ public void updateInputs(SpindexerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.isJammed = m_currentEma.get() > SpindexerConstants.jamCurrentThresh;
-    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+    inputs.motorEnergyDraw += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
index 387f6e68..25207a5f 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
@@ -30,8 +30,8 @@ public void updateInputs(SpindexerIOInputs inputs) {
     inputs.motorCurrent = m_motorSim.getCurrentDrawAmps();
     inputs.motorTemperatureCelsius = 0.0;
     inputs.isJammed = false;
-    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+    inputs.motorEnergyDraw += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
 
   }
 }

From 6797b830b153c6c7dbc0b08999ea0e5b4a267f09 Mon Sep 17 00:00:00 2001
From: Shaun Mathew <143555953+SpeedSlicer@users.noreply.github.com>
Date: Wed, 22 Apr 2026 20:23:40 -0400
Subject: [PATCH 3/5] yessir

---
 src/main/java/frc/robot/subsystems/hood/HoodIO.java           | 4 ++--
 src/main/java/frc/robot/subsystems/hood/HoodIOReal.java       | 4 ++--
 src/main/java/frc/robot/subsystems/hood/HoodIOSim.java        | 4 ++--
 src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java   | 3 ++-
 src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java    | 1 +
 src/main/java/frc/robot/subsystems/module/ModuleIOReal.java   | 1 +
 src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java  | 2 ++
 src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java | 2 +-
 .../java/frc/robot/subsystems/spindexer/SpindexerIOReal.java  | 2 +-
 .../java/frc/robot/subsystems/spindexer/SpindexerIOSim.java   | 2 +-
 src/main/java/frc/robot/subsystems/turret/TurretIO.java       | 4 ++--
 src/main/java/frc/robot/subsystems/turret/TurretIOReal.java   | 4 ++--
 src/main/java/frc/robot/subsystems/turret/TurretIOSim.java    | 4 ++--
 13 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/hood/HoodIO.java b/src/main/java/frc/robot/subsystems/hood/HoodIO.java
index 8e46a762..992abcec 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodIO.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodIO.java
@@ -18,8 +18,8 @@ public class HoodIOInputs {
     public double motorCurrent;
     public double motorVoltage;
     public double motorTemperatureCelsius;
-    public double motorDrawJoules = 0;
-    public double motorWattage;
+    public double motorTotalEnergy = 0;
+    public double motorPower;
   }
 
   public default void setAngleRadians(double angle) {
diff --git a/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java b/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java
index e12d1886..e1349ad0 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodIOReal.java
@@ -60,8 +60,8 @@ public void updateInputs(HoodIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorVoltage = m_motor.getAppliedOutput() * m_motor.getBusVoltage();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
-    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
     Logger.recordOutput("Subsystems/Hood/encoderPositionRaw", m_encoder.getPosition());
   }
 
diff --git a/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java b/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java
index 963e1212..f929933b 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodIOSim.java
@@ -51,8 +51,8 @@ public void updateInputs(HoodIOInputs inputs) {
     inputs.angularVelocityDegreesPerSec = inputs.angularVelocityRadPerSec * 180 / Math.PI;
     inputs.motorCurrent = m_motor.getCurrentDrawAmps();
     inputs.motorVoltage = m_motor.getInputVoltage();
-    inputs.motorDrawJoules = inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
     inputs.motorTemperatureCelsius = 0;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
index f347bc67..342fa830 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
@@ -39,7 +39,8 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.motorVelocityRadPerSec = m_encoder.getVelocity() * 2 * Math.PI / 60;
     inputs.motorVelocityRPM = m_encoder.getVelocity();
-    inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
index 56ee2049..eaa7c852 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
@@ -38,5 +38,6 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorVelocityRPM = m_motorSim.getAngularVelocityRPM();
     inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent;
+    
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
index 5f546410..bae94927 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
@@ -97,6 +97,7 @@ public void updateInputs(ModuleIOInputs inputs) {
         .mapToDouble((Double value) -> -(value / DriveConstants.driveGearRatio) / 60
             * DriveConstants.wheelRadius * 2 * Math.PI)
         .toArray();
+        
     inputs.driveTotalEnergy += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
     inputs.steerTotalEnergy += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
     inputs.totalEnergy = inputs.driveTotalEnergy + inputs.steerTotalEnergy;
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
index e8801e4a..d57c261f 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -61,12 +61,14 @@ public void updateInputs(ShooterIOInputs inputs) {
     inputs.followerMotorVoltage = m_motor.getInputVoltage();
     inputs.followerMotorTemperatureCelsius = 0;
     inputs.followerMotorPositionRotations = m_motor.getAngularPositionRotations();
+    
     inputs.leaderTotalEnergy += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
     inputs.followerTotalEnergy += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
     inputs.totalEnergy = inputs.leaderTotalEnergy + inputs.followerTotalEnergy; // J
     inputs.leaderPower = inputs.leaderMotorVoltage * inputs.leaderMotorCurrent; // W
     inputs.followerPower = inputs.followerMotorVoltage * inputs.followerMotorCurrent; // W
     inputs.totalPower = inputs.leaderPower + inputs.followerPower; // W
+
     inputs.averageVoltage = m_motor.getInputVoltage();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
index 5cbcf13e..a8eec628 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
@@ -11,7 +11,7 @@ public static class SpindexerIOInputs {
     public double motorCurrent = 0.0;
     public double motorTemperatureCelsius = 0.0;
     public boolean isJammed = false;
-    public double motorEnergyDraw = 0.0;
+    public double motorTotalEnergy = 0.0;
     public double motorPower;
   }
 
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
index d11f9cfa..704aa88f 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOReal.java
@@ -31,7 +31,7 @@ public void updateInputs(SpindexerIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.isJammed = m_currentEma.get() > SpindexerConstants.jamCurrentThresh;
-    inputs.motorEnergyDraw += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
index 25207a5f..1f1e6573 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOSim.java
@@ -30,7 +30,7 @@ public void updateInputs(SpindexerIOInputs inputs) {
     inputs.motorCurrent = m_motorSim.getCurrentDrawAmps();
     inputs.motorTemperatureCelsius = 0.0;
     inputs.isJammed = false;
-    inputs.motorEnergyDraw += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
 
   }
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/robot/subsystems/turret/TurretIO.java
index 3ed69fc7..b26a8210 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretIO.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIO.java
@@ -15,8 +15,8 @@ public class TurretIOInputs {
     public double motorCurrent;
     public double motorVoltage;
     public double motorTemperatureCelsius;
-    public double motorTotalDrawJoules = 0;
-    public double motorWattage;
+    public double motorTotalEnergy = 0;
+    public double motorPower;
   }
 
   public default void setTurretState(ShotSetpoint setpoint) {
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java b/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java
index 04367e9e..6da8f9ce 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIOReal.java
@@ -73,8 +73,8 @@ public void updateInputs(TurretIOInputs inputs) {
     inputs.motorCurrent = m_motor.getOutputCurrent();
     inputs.motorVoltage = m_motor.getBusVoltage() * m_motor.getAppliedOutput();
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
-    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
 
     Logger.recordOutput("Subsystems/Turret/encoderPositionRawVolts", m_encoder.getPosition());
     Logger.recordOutput("Subsystems/Turret/encoderVelocityRawVoltsPerSecond", m_encoder.getVelocity());
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java b/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java
index 39e0a346..52ffa4b7 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java
@@ -44,8 +44,8 @@ public void updateInputs(TurretIOInputs inputs) {
     inputs.motorCurrent = m_motor.getCurrentDrawAmps();
     inputs.motorVoltage = m_motor.getInputVoltage();
     inputs.motorTemperatureCelsius = 0;
-    inputs.motorTotalDrawJoules += inputs.motorCurrent * inputs.motorVoltage * 0.02;
-    inputs.motorWattage = inputs.motorCurrent * inputs.motorVoltage;
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
+    inputs.motorPower = inputs.motorCurrent * inputs.motorVoltage;
 
   }
 }

From f61d0e1913793eb034e8d28f0c5581b3b926cc97 Mon Sep 17 00:00:00 2001
From: Shaun Mathew <143555953+SpeedSlicer@users.noreply.github.com>
Date: Wed, 22 Apr 2026 20:25:06 -0400
Subject: [PATCH 4/5] representatives from the planet mars horrified humans
 drink WATER, what happens next is shocking!

---
 src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java      | 2 +-
 .../frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java  | 1 -
 src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java     | 2 +-
 src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java      | 2 +-
 src/main/java/frc/robot/subsystems/module/ModuleIOReal.java     | 2 +-
 src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java    | 2 +-
 6 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
index 68c9c59d..8d687476 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -51,7 +51,7 @@ public void updateInputs(IntakeIOInputs inputs) {
     inputs.velocityRadPerSec = m_motor.getAngularVelocityRadPerSec(); // rad/s
     inputs.positionDegrees = inputs.positionRadians * 180 / Math.PI;
     inputs.velocityDegreesPerSec = inputs.velocityRadPerSec * 180 / Math.PI;
-    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02; 
+    inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
 
     intakeLigament.setAngle(90 - Units.radiansToDegrees(m_motor.getAngularPositionRad()));
diff --git a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
index ccb7fd69..15e2d879 100644
--- a/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/intakeRollers/IntakeRollerIOReal.java
@@ -49,4 +49,3 @@ public void updateInputs(IntakeRollerIOInputs inputs) {
     inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
   }
 }
- 
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
index 342fa830..88689721 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java
@@ -39,7 +39,7 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorTemperatureCelsius = m_motor.getMotorTemperature();
     inputs.motorVelocityRadPerSec = m_encoder.getVelocity() * 2 * Math.PI / 60;
     inputs.motorVelocityRPM = m_encoder.getVelocity();
-    
+
     inputs.motorTotalEnergy += inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent; // W
   }
diff --git a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
index eaa7c852..2cd75225 100644
--- a/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
+++ b/src/main/java/frc/robot/subsystems/kicker/KickerIOSim.java
@@ -38,6 +38,6 @@ public void updateInputs(KickerIOInputs inputs) {
     inputs.motorVelocityRPM = m_motorSim.getAngularVelocityRPM();
     inputs.motorTotalEnergy = inputs.motorCurrent * inputs.motorVoltage * 0.02;
     inputs.motorPower = inputs.motorVoltage * inputs.motorCurrent;
-    
+
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
index bae94927..01f0b1c2 100644
--- a/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
+++ b/src/main/java/frc/robot/subsystems/module/ModuleIOReal.java
@@ -97,7 +97,7 @@ public void updateInputs(ModuleIOInputs inputs) {
         .mapToDouble((Double value) -> -(value / DriveConstants.driveGearRatio) / 60
             * DriveConstants.wheelRadius * 2 * Math.PI)
         .toArray();
-        
+
     inputs.driveTotalEnergy += inputs.driveAppliedVoltage * inputs.driveCurrentAmps * 0.02;
     inputs.steerTotalEnergy += inputs.steerAppliedVoltage * inputs.steerCurrentAmps * 0.02;
     inputs.totalEnergy = inputs.driveTotalEnergy + inputs.steerTotalEnergy;
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
index d57c261f..a09982eb 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -61,7 +61,7 @@ public void updateInputs(ShooterIOInputs inputs) {
     inputs.followerMotorVoltage = m_motor.getInputVoltage();
     inputs.followerMotorTemperatureCelsius = 0;
     inputs.followerMotorPositionRotations = m_motor.getAngularPositionRotations();
-    
+
     inputs.leaderTotalEnergy += inputs.leaderMotorVoltage * inputs.leaderMotorCurrent * 0.02; // J
     inputs.followerTotalEnergy += inputs.followerMotorVoltage * inputs.followerMotorCurrent * 0.02; // J
     inputs.totalEnergy = inputs.leaderTotalEnergy + inputs.followerTotalEnergy; // J

From d430548b9c5e58b77346868eaf231e19007a6a6d Mon Sep 17 00:00:00 2001
From: Shaun Mathew <143555953+SpeedSlicer@users.noreply.github.com>
Date: Thu, 23 Apr 2026 05:26:12 -0400
Subject: [PATCH 5/5] yes

---
 .../java/frc/robot/subsystems/drive/DriveSubsystem.java     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index bde59451..8593c422 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -150,9 +150,9 @@ public void periodic() {
 
     Logger.recordOutput("Subsystems/Drive/totalDriveCurrent", totalDriveCurrent);
     Logger.recordOutput("Subsystems/Drive/totalSteerCurrent", totalSteerCurrent);
-    Logger.recordOutput("Subsystems/Drive/totalDriveWattage", totalDriveWattage);
-    Logger.recordOutput("Subsystems/Drive/totalSteerWattage", totalSteerWattage);
-    Logger.recordOutput("Subsystems/Drive/totalPowerDrawJoules", totalDrawJoules);
+    Logger.recordOutput("Subsystems/Drive/totalDrivePower", totalDriveWattage);
+    Logger.recordOutput("Subsystems/Drive/totalSteerPower", totalSteerWattage);
+    Logger.recordOutput("Subsystems/Drive/totalEnergy", totalDrawJoules);
   }
 
   private void stop() {