refactor(config): Remove old motor current limits class.

Gongoliers · Apr 25, 2024 · 650405e · 650405e
1 parent ff2c08e
commit 650405e
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Showing 3 changed files with 4 additions and 62 deletions.
diff --git a/src/main/java/frc/lib/MotorCurrentLimits.java b/src/main/java/frc/lib/MotorCurrentLimits.java
diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java
@@ -7,7 +7,6 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import frc.lib.CAN;
-import frc.lib.MotorCurrentLimits;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
 
 /** TalonFX drive motor. */
@@ -35,8 +34,8 @@ public DriveMotorIOTalonFX(CAN driveMotorCAN) {
 
     talonFXBaseConfig.Feedback.SensorToMechanismRatio = MK4iConstants.DRIVE_GEARING;
 
-    talonFXBaseConfig.CurrentLimits =
-        new MotorCurrentLimits(80.0, 30.0, 60.0, 0.1).asCurrentLimitsConfigs();
+    // talonFXBaseConfig.CurrentLimits =
+    //     new MotorCurrentLimits(80.0, 30.0, 60.0, 0.1).asCurrentLimitsConfigs();
 
     positionRotations = talonFX.getPosition();
     velocityRotationsPerSecond = talonFX.getVelocity();

diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
@@ -6,7 +6,6 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import frc.lib.CAN;
-import frc.lib.MotorCurrentLimits;
 import frc.lib.config.Configurator;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
 
@@ -42,8 +41,8 @@ public void configure() {
 
     talonFXPIDFConfig.ClosedLoopGeneral.ContinuousWrap = true;
 
-    talonFXPIDFConfig.CurrentLimits =
-        new MotorCurrentLimits(35.0, 15.0, 25.0, 0.1).asCurrentLimitsConfigs();
+    // talonFXPIDFConfig.CurrentLimits =
+    //     new MotorCurrentLimits(35.0, 15.0, 25.0, 0.1).asCurrentLimitsConfigs();
 
     talonFXPIDFConfig.Feedback.SensorToMechanismRatio = MK4iConstants.STEER_GEARING;