added current limits to swerve drive motors (make sure it works tho)

Team334 · Mar 25, 2024 · e3519ff · e3519ff
1 parent b99876e
commit e3519ff
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Showing 3 changed files with 18 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -149,7 +149,6 @@ public static class Presets {
     public static final double SHOOTER_AMP_HANDOFF = 50;
     public static final double ELEVATOR_AMP_HANDOFF = 0.04;
 
-    // TODO: get values for these
     public static final InterpolatingDoubleTreeMap SHOOTER_DISTANCE_ANGLE = new InterpolatingDoubleTreeMap();
 
     static {

diff --git a/src/main/java/frc/robot/utils/SwerveModule.java b/src/main/java/frc/robot/utils/SwerveModule.java
@@ -1,6 +1,7 @@
 /* Copyright (C) 2024 Team 334. All Rights Reserved.*/
 package frc.robot.utils;
 
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.math.MathUtil;
@@ -51,18 +52,8 @@ public class SwerveModule {
   public SwerveModule(String name, int driveMotorId, int rotationMotorId, int encoderId) {
     _driveMotor = new TalonFX(driveMotorId);
     _rotationMotor = new TalonFX(rotationMotorId);
-
-    // NO NEED FOR THIS CODE ANYMORE, FIGURED HOW TO DO OFFSETS IN PHOENIX TUNER
-    // new stuff because CTRE update
-    // MagnetSensorConfigs encoderConfig = new MagnetSensorConfigs();
-    // encoderConfig.AbsoluteSensorRange =
-    // AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
-    // encoderConfig.MagnetOffset = (angleOffset / 180) / 2;
-
     _encoder = new CANcoder(encoderId);
 
-    // _encoder.getConfigurator().apply(encoderConfig);
-
     _name = name;
 
     _driveController = new PIDController(PID.MODULE_DRIVE_KP, 0, 0);
@@ -72,12 +63,29 @@ public SwerveModule(String name, int driveMotorId, int rotationMotorId, int enco
 
     TalonFXConfig.configureFalcon(_driveMotor, false);
     TalonFXConfig.configureFalcon(_rotationMotor, true);
+
+    // TODO: make sure this works
+    CurrentLimitsConfigs currentConfig = new CurrentLimitsConfigs();
+
+    currentConfig.SupplyCurrentLimit = 60;
+    currentConfig.SupplyCurrentThreshold = 30;
+    currentConfig.SupplyTimeThreshold = 0.9;
+
+    currentConfig.StatorCurrentLimit = 120;
+
+    currentConfig.SupplyCurrentLimitEnable = false;
+    currentConfig.StatorCurrentLimitEnable = false;
+
+    _driveMotor.getConfigurator().apply(currentConfig);
   }
 
   /** Display's this module's info on SmartDashboard through a supplied builder. */
   public void displayInfo(SendableBuilder builder) {
     builder.addDoubleProperty(_name + " Angle", () -> getAngle(), null);
     builder.addDoubleProperty(_name + " Velocity", () -> getDriveVelocity(), null);
+
+    builder.addDoubleProperty(_name + " Drive Supply Current", () -> _driveMotor.getSupplyCurrent().getValueAsDouble(), null);
+    builder.addDoubleProperty(_name + " Drive Stator Current", () -> _driveMotor.getStatorCurrent().getValueAsDouble(), null);
   }
 
   /**

diff --git a/src/main/java/frc/robot/utils/configs/TalonFXConfig.java b/src/main/java/frc/robot/utils/configs/TalonFXConfig.java
@@ -43,8 +43,6 @@ public static TalonFXConfiguration configureFalcon(TalonFX falcon, boolean inver
     config.SoftwareLimitSwitch.ForwardSoftLimitEnable = false;
     config.SoftwareLimitSwitch.ReverseSoftLimitEnable = false;
 
-    // config.CurrentLimits.StatorCurrentLimit = 80; // TODO: Find
-
     falcon.getConfigurator().apply(config);
     falcon.setPosition(0);