[#541] increase limit

frc-862 · Apr 13, 2024 · 0e35e55 · 0e35e55
1 parent 9f1559d
commit 0e35e55
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Showing 4 changed files with 18 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -366,6 +366,7 @@ public class MusicConstants {
     public class CollectorConstants {
         public static final boolean COLLECTOR_MOTOR_INVERTED = true;
         public static final int COLLECTOR_MOTOR_STATOR_CURRENT_LIMIT = 70;
+        public static final int AUTON_COLLECTOR_STATOR_LIMIT = 200;
         public static final boolean COLLECTOR_MOTOR_BRAKE_MODE = false;
 
         public static final double MOTOR_KP = 0;

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -51,6 +51,8 @@ public void autonomousInit() {
 
         RobotContainer container = (RobotContainer) getContainer();
         container.drivetrain.disableVision();
+
+        container.collector.setAutonCurrentLimit();
     }
 
     @Override
@@ -59,5 +61,7 @@ public void teleopInit() {
 
         RobotContainer container = (RobotContainer) getContainer();
         container.drivetrain.enableVision();
+
+        container.collector.setTeleopCurrentLimit();
     }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -90,7 +90,7 @@ public class RobotContainer extends LightningContainer {
 	// Subsystems
 	public Swerve drivetrain;
 	private Limelights limelights;
-	private Collector collector;
+	public Collector collector;
 	private Flywheel flywheel;
 	public Pivot pivot;
 	private Indexer indexer;

diff --git a/src/main/java/frc/robot/subsystems/Collector.java b/src/main/java/frc/robot/subsystems/Collector.java
@@ -7,6 +7,8 @@
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.util.datalog.BooleanLogEntry;
 
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.VelocityVoltage;
 
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -39,7 +41,6 @@ public Collector() {
                 CollectorConstants.COLLECTOR_MOTOR_INVERTED,
                 CollectorConstants.COLLECTOR_MOTOR_STATOR_CURRENT_LIMIT,
                 CollectorConstants.COLLECTOR_MOTOR_BRAKE_MODE);
-
         motor.configPIDF(0, CollectorConstants.MOTOR_KP, CollectorConstants.MOTOR_KI,
                 CollectorConstants.MOTOR_KD, CollectorConstants.MOTOR_KS, CollectorConstants.MOTOR_KV);
 
@@ -121,4 +122,14 @@ public boolean hasPiece() {
     public void stop() {
         setPower(0d);
     }
+
+    public void setAutonCurrentLimit(){
+        motor.applyConfig(new TalonFXConfiguration().withCurrentLimits(
+            new CurrentLimitsConfigs().withStatorCurrentLimit(CollectorConstants.AUTON_COLLECTOR_STATOR_LIMIT)));
+    }
+
+    public void setTeleopCurrentLimit(){
+        motor.applyConfig(new TalonFXConfiguration().withCurrentLimits(
+            new CurrentLimitsConfigs().withStatorCurrentLimit(CollectorConstants.COLLECTOR_MOTOR_STATOR_CURRENT_LIMIT)));
+    }
 }