Add power monitor: per-subsystem current by CAN ID (no PDH mapping)

[Ashrayg09]

What

Adds a per-subsystem power monitor that reads current from the motor controllers by CAN ID (6328 / AdvantageKit style) — no PDH channel mapping or wire tracing. Runs alongside existing code; nothing is replaced.

Files

• frc/robot/power/ (new, self-contained — no dependency on Constants.java):
  • MotorCurrentMonitor — sums per-subsystem motor current; publishes to NetworkTables + a "Power (motors)" Shuffleboard tab + DataLog; also opens the REV PDH for full-system total (PdhTotalCurrent) + bus voltage.
  • BatteryEstimator (Thevenin + Peukert + Kalman SOC), BreakerThermalModel (Miner's-rule breaker heat), FinanceDepartment (dynamic drive-current allocation), PowerConstants (thresholds).
• RobotContainer.java — adds a powerMonitor field + configurePowerMonitor() that registers every TalonFX by CAN ID / bus, called on the real robot.

Motor map (pulled from this robot's config)

• Swerve Drive (KrakenX60) 1/4/7/10 · Swerve Steer (KrakenX44) 3/6/9/12 — bus Canivore
• Shooter 19/20 · Feeder 14/15/23 · Intake 24/25 · Hood 21 · Turret 17 — bus rio

How to test

Deploy, enable, run each mechanism → its bar moves in the "Power (motors)" Shuffleboard tab and under NetworkTables PowerMonitor/. DataLog under /power/ for AdvantageScope.

Notes

• Uses read-only TalonFX handles by CAN ID (Phoenix 6 allows multiple objects per device), so no existing subsystem objects are touched.
• Per-subsystem = motor supply current; PdhTotalCurrent gives the true system total incl. non-motor loads.
• Verified: ./gradlew compileJava succeeds on this branch.

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