Merge branch 'pre-marc' into amp-bar

hammerhead226 · Aug 14, 2024 · 5bab88d · 5bab88d
2 parents c2a8227 + c0e1373
commit 5bab88d
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Showing 5 changed files with 19 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,6 +5,7 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024 Robot Code";
   public static final String VERSION = "unspecified";
+
   public static final int GIT_REVISION = 321;
   public static final String GIT_SHA = "595783aa307f432a03116af1c4f77599478ee51c";
   public static final String GIT_DATE = "2024-08-12 20:54:55 EDT";

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -65,10 +65,15 @@ public static class ModuleConstants {
     public static final double DRIVE_GEAR_RATIO = 6.12;
     public static final double TURN_GEAR_RATIO = 150.0 / 7.0;
 
-    public static final double DRIVE_STATOR_CURRENT_LIMIT = 40.0;
+    public static final double DRIVE_STATOR_CURRENT_LIMIT = 90.0;
     public static final boolean DRIVE_STATOR_CURRENT_LIMIT_ENABLED = true;
+    public static final double DRIVE_SUPPLY_CURRENT_LIMIT = 42.0;
+    public static final boolean DRIVE_SUPPLY_CURRENT_LIMIT_ENABLED = true;
+
     public static final double TURN_STATOR_CURRENT_LIMIT = 30.0;
     public static final boolean TURN_STATOR_CURRENT_LIMIT_ENABLED = true;
+    public static final double TURN_SUPPLY_CURRENT_LIMIT = 30.0;
+    public static final boolean TURN_SUPPLY_CURRENT_LIMIT_ENABLED = true;
   }
 
   public static class IntakeConstants {

diff --git a/src/main/java/frc/robot/commands/AimbotTele.java b/src/main/java/frc/robot/commands/AimbotTele.java
@@ -115,7 +115,7 @@ public void angleShooter() {
       double shootingSpeed = calculateShooterSpeed(Units.metersToFeet(distanceToSpeakerMeter));
 
       shooter.setFlywheelRPMs(shootingSpeed, shootingSpeed + 100);
-    } else shooter.setFlywheelRPMs(5400 - 200, 5400 - 400);
+    } else shooter.setFlywheelRPMs(5400 - 100, 5400 - 800);
     pivot.setPivotGoal(calculatePivotAngleDeg(distanceToSpeakerMeter));
   }
 

diff --git a/src/main/java/frc/robot/commands/ScoreAmp.java b/src/main/java/frc/robot/commands/ScoreAmp.java
@@ -20,11 +20,13 @@ public class ScoreAmp extends SequentialCommandGroup {
   /** Creates a new ScoreAmp. */
   public ScoreAmp(Elevator elevator, Pivot pivot, Shooter shooter, Drive drive) {
     addCommands(
+amp-bar
         new ParallelCommandGroup(
             new InstantCommand(() -> elevator.setConstraints(100, 640), elevator),
             new InstantCommand(() -> shooter.setFlywheelRPMs(2400, 2400), shooter),
             new SetPivotTarget(Constants.PivotConstants.AMP_SETPOINT_DEG, pivot)),
         new SetAmpBarTarget(195, 0, elevator),
+
         new SetElevatorTarget(6, 1, elevator));
 
     // addCommands(

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
@@ -98,6 +98,11 @@ public ModuleIOTalonFX(int index) {
         Constants.ModuleConstants.DRIVE_STATOR_CURRENT_LIMIT;
     driveConfig.CurrentLimits.StatorCurrentLimitEnable =
         Constants.ModuleConstants.DRIVE_STATOR_CURRENT_LIMIT_ENABLED;
+    driveConfig.CurrentLimits.SupplyCurrentLimit =
+        Constants.ModuleConstants.DRIVE_SUPPLY_CURRENT_LIMIT;
+    driveConfig.CurrentLimits.SupplyCurrentLimitEnable =
+        Constants.ModuleConstants.DRIVE_SUPPLY_CURRENT_LIMIT_ENABLED;
+
     driveTalon.getConfigurator().apply(driveConfig);
     setDriveBrakeMode(true);
     // setDriveOpenLoopRamp(Constants.SwerveConstants.OPEN_LOOP_RAMP_SEC);
@@ -107,6 +112,10 @@ public ModuleIOTalonFX(int index) {
         Constants.ModuleConstants.TURN_STATOR_CURRENT_LIMIT;
     turnConfig.CurrentLimits.StatorCurrentLimitEnable =
         Constants.ModuleConstants.TURN_STATOR_CURRENT_LIMIT_ENABLED;
+    turnConfig.CurrentLimits.SupplyCurrentLimit =
+        Constants.ModuleConstants.TURN_SUPPLY_CURRENT_LIMIT;
+    turnConfig.CurrentLimits.SupplyCurrentLimitEnable =
+        Constants.ModuleConstants.TURN_SUPPLY_CURRENT_LIMIT_ENABLED;
     turnTalon.getConfigurator().apply(turnConfig);
     setTurnBrakeMode(true);