feat(swerve): Tighten current limits.

Gongoliers · Feb 29, 2024 · b35c135 · b35c135
1 parent 5aa04b5
commit b35c135
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java
@@ -37,7 +37,7 @@ public DriveMotorIOTalonFX(CAN driveMotorCAN) {
 
     // TODO Copied from Citrus Circuits 2023 release
     talonFXBaseConfig.CurrentLimits =
-        new MotorCurrentLimits(300.0, 40.0, 100.0, 1.0).asCurrentLimitsConfigs();
+        new MotorCurrentLimits(300.0, 30.0, 60.0, 1.0).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
@@ -43,7 +43,7 @@ public void configure() {
     talonFXPIDFConfig.ClosedLoopGeneral.ContinuousWrap = true;
 
     talonFXPIDFConfig.CurrentLimits =
-        new MotorCurrentLimits(0.0, 40.0, 3.0, 1.0).asCurrentLimitsConfigs();
+        new MotorCurrentLimits(0.0, 20.0, 30.0, 1.0).asCurrentLimitsConfigs();
 
     talonFXPIDFConfig.Feedback.SensorToMechanismRatio = MK4iConstants.STEER_GEARING;