Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 08:48:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

current limits for drive

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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 TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS; 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 // misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0)); 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); rightBackSteerMotor.setNeutralMode(mode);
rightBackWheelMotor.setNeutralMode(mode);// Coast 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, leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
@@ -237,10 +259,8 @@ public class RobotMap {
void configureIntakeMotors(){ void configureIntakeMotors(){
intakeMotor.configFactoryDefault(); intakeMotor.configFactoryDefault();
intakeMotor.setNeutralMode(NeutralMode.Coast); intakeMotor.setNeutralMode(NeutralMode.Coast);
intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE, intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE);
ShooterConstants.SHOOTER_TIMEOUT_MS); intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE);
intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE,
ShooterConstants.SHOOTER_TIMEOUT_MS);
} }
/* Storage Subsystem */ /* Storage Subsystem */