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You've made amazing progress on this very complicated problem! There are a few things to change about how the brownout protection should fit into the rest of the code and the details of how it should be behave. Other than that, there are some changes that shouldn't be included in this pull request, because this one is only focused on brownout protection, but could be added in other PRs.
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BrownProtection runs every robot loop at runtime, reading battery voltage from RobotController and total robot current from CurrentDrawLogger, smooths both with a 10-sample moving average, and converts them into normalized budgets (voltage budget and current budget). It then takes the worst of those budgets, and that becomes protectionBudget. Then it generates a difference and separates it into driveScale and mechanismScale. The drivetrain is prioritized, while aiming and extension mechanisms are slowed more aggressively.