From 367c611b6628f0d4b239b136a0817fb06379865e Mon Sep 17 00:00:00 2001 From: robo7660 Date: Sat, 6 Apr 2024 19:51:12 -0400 Subject: [PATCH] Power maagement tuning --- .../swerves/KrakenSwerve/modules/physicalproperties.json | 2 +- src/main/java/frc/robot/Constants.java | 4 ++-- src/main/java/frc/robot/RobotContainer.java | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json b/src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json index d166ed2..89ca4d4 100644 --- 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 index feca10e..067692a 100644 --- 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 index 94e55bc..e9e7506 100644 --- 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));