From 5f33a79314f4f14c81f03a86d18c941ef81b725a Mon Sep 17 00:00:00 2001
From: Rowan Flood <121908273+rflood07@users.noreply.github.com>
Date: Thu, 15 Feb 2024 18:57:17 -0600
Subject: [PATCH] smartcurrentlimits

---
 src/main/java/frc/robot/subsystems/IntakeSubsystem.java  | 8 ++++++++
 src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 2 +-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 19d862eb..6ae4004f 100644
--- 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
index 41a2f35e..22816fa5 100644
--- 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);