Merge pull request #93 from 2491-NoMythic/betterDrivetrainCurrent

intial limits. untested
2491-NoMythic · Mar 9, 2024 · dec9fc2 · dec9fc2
2 parents e37bedf + c1dc8b9
commit dec9fc2
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -173,7 +173,7 @@ public double getValue() {
     public static final double k_DRIVE_FF_V = 0;
     public static final double DRIVE_DEADBAND_MPS = 0.01;
     public static final double DRIVE_MOTOR_RAMP = 0.1;
-    public static final double DRIVE_CURRENT_LIMIT = 200;
+    public static final double DRIVE_CURRENT_LIMIT = 30;
 
     // Steer Motor
     /**
@@ -368,6 +368,8 @@ public CTREConfigs() {
       driveMotorConfig.CurrentLimits.SupplyCurrentLimit = DriveConstants.DRIVE_CURRENT_LIMIT;
       driveMotorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
       driveMotorConfig.CurrentLimits.StatorCurrentLimitEnable = false;
+      driveMotorConfig.CurrentLimits.SupplyCurrentThreshold = 50;
+      driveMotorConfig.CurrentLimits.SupplyTimeThreshold = 0.8;
 
       //  Steer encoder.
       steerEncoderConfig.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;