Team4388/2026KPopRobotHunters
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Limit Switch

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This commit is contained in:
Michael Mikovsky
2026-02-14 10:55:51 -08:00
parent 0425cdd0a1
commit 8381ac4607
8 changed files with 89 additions and 66 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2 -2
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@@ -12,7 +12,7 @@ import frc4388.utility.status.CanDevice;
public class IntakeConstants {
// Motor conversions
public static final double ARM_MOTOR_GEAR_RATIO = 100;
public static final double ARM_MOTOR_GEAR_RATIO = 125;
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
@@ -68,7 +68,7 @@ public class IntakeConstants {
public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(40) // TODO: tune???
.withStatorCurrentLimit(15) // TODO: tune???
.withStatorCurrentLimitEnable(true)
).withMotorOutput(
new MotorOutputConfigs()