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intial limits. untested #93

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merged 4 commits into from
Mar 9, 2024
Merged

intial limits. untested #93

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a3e8d7c
intial limits. untested
trixydevs Mar 8, 2024
8426988
power managment yippee
trixydevs Mar 9, 2024
c8e2f25
increased current threshold so that motors will be under it while coa…
trixydevs Mar 9, 2024
c1dc8b9
Update Constants.java
veggie2u Mar 9, 2024
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4 changes: 3 additions & 1 deletion src/main/java/frc/robot/settings/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
/**
Expand Down Expand Up @@ -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 = 1.4;
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Talked with Emilio. He has some concern about using 1.4. The breaker can deteriorate over time when we go above it's limit. We should move this back to say 0.8. That should still allow us to accelaerate. We can test on field.


// Steer encoder.
steerEncoderConfig.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
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