From 281ab62dd7df072c4bae702ebd5d64e1aeaef97f Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 12 Mar 2022 17:32:10 -0700
Subject: [PATCH] current limits for drive

---
 src/main/java/frc4388/robot/Constants.java | 12 ++++++++++
 src/main/java/frc4388/robot/RobotMap.java  | 28 ++++++++++++++++++----
 2 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 8ae655f..df6d364 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -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));
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 3aed04d..45e2f37 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -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 */