Power maagement tuning

FRC7660 · Apr 6, 2024 · 367c611 · 367c611
1 parent 69064fa
commit 367c611
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json b/src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json
@@ -4,7 +4,7 @@
     "angle": 16.8
   },
   "currentLimit": {
-    "drive": 120,
+    "drive": 105,
     "angle": 40
   },
   "rampRate": {

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -23,8 +23,8 @@ public final class Constants {
   public static final boolean kLeftBackDriveInverted = false;
   public static final boolean kRightBackDriveInverted = false;
   public static final boolean kRightFrontDriveInverted = false;
-  public static final int driveStatorCurrentLimit = 120;
-  public static final int driveSupplyCurrentLimit = 120;
+  public static final int driveStatorCurrentLimit = 110;
+  public static final int driveSupplyCurrentLimit = 105;
 
   public static final double LOOP_TIME = 0.13;
   public static final double ROBOT_MASS = 115 * 0.453592;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -135,7 +135,7 @@ public RobotContainer() {
   private void configureBindings() {
 
     JoystickButton leftBumper = new JoystickButton(driver, XboxController.Button.kLeftBumper.value);
-    leftBumper.toggleOnTrue(new IntakeAndIndex(m_intake, m_index, m_transfer));
+    leftBumper.whileTrue(new IntakeAndIndex(m_intake, m_index, m_transfer));
 
     JoystickButton rb = new JoystickButton(driver, XboxController.Button.kRightBumper.value);
     rb.whileTrue(new LaunchWithVelo(m_launch, m_index, -1400, false));