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current limits for drive

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This commit is contained in:
aarav18
2022-03-12 17:32:10 -07:00
parent 64391c99c2
commit 281ab62dd7
2 changed files with 36 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+12
View File
@@ -112,6 +112,18 @@ public final class Constants {
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
// current limits
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_STEER = new SupplyCurrentLimitConfiguration(
false, 10, 0, 0);
public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_STEER = new StatorCurrentLimitConfiguration(
false, 15, 0, 0);
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL = new SupplyCurrentLimitConfiguration(
false, 10, 0, 0);
public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_WHEEL = new StatorCurrentLimitConfiguration(
false, 15, 0, 0);
// misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0));
src/main/java/frc4388/robot/RobotMap.java
+24 -4
View File
@@ -138,6 +138,28 @@ public class RobotMap {
rightBackSteerMotor.setNeutralMode(mode);
rightBackWheelMotor.setNeutralMode(mode);// Coast
// current limits
leftFrontSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
rightFrontSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
leftBackSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
rightBackSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
leftFrontWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
rightFrontWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
leftBackWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
rightBackWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
leftFrontSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
rightFrontSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
leftBackSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
rightBackSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
leftFrontWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
rightFrontWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
leftBackWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
rightBackWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
@@ -237,10 +259,8 @@ public class RobotMap {
void configureIntakeMotors(){
intakeMotor.configFactoryDefault();
intakeMotor.setNeutralMode(NeutralMode.Coast);
intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE,
ShooterConstants.SHOOTER_TIMEOUT_MS);
intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE,
ShooterConstants.SHOOTER_TIMEOUT_MS);
intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE);
intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE);
}
/* Storage Subsystem */