smartcurrentlimits

2491-NoMythic · Feb 16, 2024 · 373a459 · 373a459
1 parent 9f6eb6f
commit 373a459
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -32,6 +32,12 @@ public IntakeSubsystem() {
       brush1 = new CANSparkMax(IntakeConstants.BRUSH_1_MOTOR, MotorType.kBrushless);
       brush2 = new CANSparkMax(IntakeConstants.BRUSH_2_MOTOR, MotorType.kBrushless);
       brush3 = new CANSparkMax(IntakeConstants.BRUSH_3_MOTOR, MotorType.kBrushless);
+      brush1.setSmartCurrentLimit(20, 20, 60);
+      brush2.setSmartCurrentLimit(20, 20, 60);
+      brush3.setSmartCurrentLimit(20, 20, 60);
+      brush1.burnFlash();
+      brush2.burnFlash();
+      brush3.burnFlash();
       brush1.setIdleMode(IdleMode.kCoast);
       brush2.setIdleMode(IdleMode.kCoast);
       brush3.setIdleMode(IdleMode.kCoast);
@@ -40,6 +46,8 @@ public IntakeSubsystem() {
     intake2.setInverted(true);
     intake1.setIdleMode(IdleMode.kCoast);
     intake2.setIdleMode(IdleMode.kCoast);
+    intake1.setSmartCurrentLimit(20, 20, 60);
+    intake2.setSmartCurrentLimit(20, 20, 60);
     intake1.burnFlash();
     intake2.burnFlash();
   }

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -76,7 +76,7 @@ public ShooterSubsystem(double runSpeed) {
     PIDconfigs.kP = kP;
     PIDconfigs.kI = kI;
     PIDconfigs.kD = kD;
-    PIDconfigs.kS = kFF; 
+    PIDconfigs.kS = kFF;
 
      SmartDashboard.putNumber("P Gain", Constants.ShooterConstants.kP);
      SmartDashboard.putNumber("I Gain", Constants.ShooterConstants.kI);