Revert "Merge branch 'Pre-States2024' of https://github.com/robo7660/…

…Robot into Pre-States2024"

This reverts commit f27ede4, reversing
changes made to cc8bd92.

src/main/java/frc/robot/subsystems/SwerveSubsystem.java

@@ -4,6 +4,7 @@
 
 package frc.robot.subsystems;
 
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.hardware.core.CoreTalonFX;
@@ -100,6 +101,7 @@ public SwerveSubsystem(File directory)
     setupCustom();
     initDriveTalons();
     setupFOC();
+    setCurrentLimits();
   }
 
   /**
@@ -115,6 +117,7 @@ public SwerveSubsystem(SwerveDriveConfiguration driveCfg, SwerveControllerConfig
     setupCustom();
     initDriveTalons();
     setupFOC();
+    setCurrentLimits();
   }
 
   /**
@@ -354,6 +357,21 @@ private void updateMatchTime() {
     SmartDashboard.putString("Match Time", matchTime);
   }
 
+  private void setCurrentLimits() {
+    for (SwerveModule swerveModule : swerveDrive.getModules()){
+      TalonFX motor = (TalonFX) swerveModule.getDriveMotor().getMotor();
+      CurrentLimitsConfigs config = new CurrentLimitsConfigs();
+      config.StatorCurrentLimitEnable = true;
+      config.SupplyCurrentLimitEnable = true;
+      config.SupplyCurrentThreshold = 60;
+      config.SupplyTimeThreshold = 2.5;
+      config.StatorCurrentLimit = Constants.driveStatorCurrentLimit;
+      config.SupplyCurrentLimit = Constants.driveSupplyCurrentLimit;
+      motor.getConfigurator().apply(config);
+      motor.getConfigurator().refresh(config);
+    }
+  }
+
   @Override
   public void simulationPeriodic()
   {