refactor: Add stator current limit config.

src/main/java/frc/lib/config/MotorConfig.java

@@ -12,13 +12,15 @@ public record MotorConfig(
     boolean neutralBrake,
     boolean ccwPositive,
     double motorToMechanismRatio,
-    double currentLimitAmps) {
+    double statorCurrentLimit,
+    double supplyCurrentLimit) {
 
   public MotorConfig {
     Objects.requireNonNull(neutralBrake);
     Objects.requireNonNull(ccwPositive);
     Objects.requireNonNull(motorToMechanismRatio);
-    Objects.requireNonNull(currentLimitAmps);
+    Objects.requireNonNull(statorCurrentLimit);
+    Objects.requireNonNull(supplyCurrentLimit);
   }
 
   public static final class MotorConfigBuilder {
@@ -28,29 +30,34 @@ public static final class MotorConfigBuilder {
 
     private double motorToMechanismRatio;
 
-    private double currentLimitAmps;
+    private double statorCurrentLimit;
+
+    private double supplyCurrentLimit;
 
     public static MotorConfigBuilder defaults() {
-      return new MotorConfigBuilder(false, true, 1.0, 40.0);
+      return new MotorConfigBuilder(false, true, 1.0, 80.0, 40.0);
     }
 
     public static MotorConfigBuilder from(MotorConfig motorConfig) {
       return new MotorConfigBuilder(
           motorConfig.neutralBrake,
           motorConfig.ccwPositive,
           motorConfig.motorToMechanismRatio,
-          motorConfig.currentLimitAmps);
+          motorConfig.statorCurrentLimit,
+          motorConfig.supplyCurrentLimit);
     }
 
     private MotorConfigBuilder(
         boolean neutralBrake,
         boolean ccwPositive,
         double motorToMechanismRatio,
-        double currentLimitAmps) {
+        double statorCurrentLimit,
+        double supplyCurrentLimit) {
       this.neutralBrake = neutralBrake;
       this.ccwPositive = ccwPositive;
       this.motorToMechanismRatio = motorToMechanismRatio;
-      this.currentLimitAmps = currentLimitAmps;
+      this.statorCurrentLimit = statorCurrentLimit;
+      this.supplyCurrentLimit = supplyCurrentLimit;
     }
 
     public MotorConfigBuilder neutralBrake(boolean neutralBrake) {
@@ -68,13 +75,19 @@ public MotorConfigBuilder motorToMechanismRatio(double motorToMechanismRatio) {
       return this;
     }
 
-    public MotorConfigBuilder currentLimitAmps(double currentLimitAmps) {
-      this.currentLimitAmps = currentLimitAmps;
+    public MotorConfigBuilder statorCurrentLimit(double statorCurrentLimit) {
+      this.statorCurrentLimit = statorCurrentLimit;
+      return this;
+    }
+
+    public MotorConfigBuilder supplyCurrentLimit(double supplyCurrentLimit) {
+      this.supplyCurrentLimit = supplyCurrentLimit;
       return this;
     }
 
     public MotorConfig build() {
-      return new MotorConfig(neutralBrake, ccwPositive, motorToMechanismRatio, currentLimitAmps);
+      return new MotorConfig(
+          neutralBrake, ccwPositive, motorToMechanismRatio, statorCurrentLimit, supplyCurrentLimit);
     }
   }
 
@@ -88,14 +101,14 @@ private CurrentLimitsConfigs createCurrentLimitsConfigs() {
 
     // Stator current is a measure of the current inside of the motor and is typically higher than
     // supply (breaker) current
-    currentLimitsConfigs.StatorCurrentLimit = currentLimitAmps() * 2.0;
+    currentLimitsConfigs.StatorCurrentLimit = statorCurrentLimit;
     currentLimitsConfigs.StatorCurrentLimitEnable = true;
 
-    currentLimitsConfigs.SupplyCurrentLimit = currentLimitAmps();
-    // Allow higher current spikes (150%) for a brief duration (one second)
-    // REV 40A auto-resetting breakers typically trip when current exceeds 300% for one second
-    currentLimitsConfigs.SupplyCurrentThreshold = currentLimitAmps() * 1.5;
-    currentLimitsConfigs.SupplyTimeThreshold = 1;
+    currentLimitsConfigs.SupplyCurrentLimit = supplyCurrentLimit;
+    // TODO Determine if spikes should be eliminated to preserve battery
+    // Allow higher current spikes (150%) for a very brief duration (tenth second)
+    currentLimitsConfigs.SupplyCurrentThreshold = supplyCurrentLimit * 1.5;
+    currentLimitsConfigs.SupplyTimeThreshold = 0.1;
     currentLimitsConfigs.SupplyCurrentLimitEnable = true;
 
     return currentLimitsConfigs;

src/main/java/frc/robot/arm/Arm.java

@@ -26,7 +26,11 @@ public class Arm extends Subsystem {
                   absoluteEncoder.ccwPositive(false).offset(Rotation2d.fromDegrees(-173.135)))
           .motorConfig(
               motor ->
-                  motor.ccwPositive(true).neutralBrake(true).motorToMechanismRatio(39.771428571))
+                  motor
+                      .ccwPositive(true)
+                      .neutralBrake(true)
+                      .motorToMechanismRatio(39.771428571)
+                      .statorCurrentLimit(40.0))
           .motionProfileConfig(
               motionProfile ->
                   motionProfile

src/main/java/frc/robot/intake/Intake.java

@@ -19,7 +19,10 @@ public class Intake extends Subsystem {
       MechanismConfigBuilder.defaults()
           .motorConfig(
               motor ->
-                  motor.ccwPositive(false).neutralBrake(false).motorToMechanismRatio(24.0 / 16.0))
+                  motor
+                      .ccwPositive(false)
+                      .motorToMechanismRatio(24.0 / 16.0)
+                      .statorCurrentLimit(80.0))
           .motionProfileConfig(motionProfile -> motionProfile.maximumVelocity(66))
           .feedforwardControllerConfig(feedforward -> feedforward.kS(0.13).kV(0.1683))
           .feedbackControllerConfig(feedback -> feedback.kP(0.1))
@@ -30,7 +33,10 @@ public class Intake extends Subsystem {
       MechanismConfigBuilder.defaults()
           .motorConfig(
               motor ->
-                  motor.ccwPositive(false).neutralBrake(false).motorToMechanismRatio(24.0 / 16.0))
+                  motor
+                      .ccwPositive(false)
+                      .motorToMechanismRatio(24.0 / 16.0)
+                      .statorCurrentLimit(80.0))
           .motionProfileConfig(motionProfile -> motionProfile.maximumVelocity(66))
           .feedforwardControllerConfig(feedforward -> feedforward.kS(0.13).kV(0.1759))
           .feedbackControllerConfig(feedback -> feedback.kP(0.1))

src/main/java/frc/robot/shooter/Shooter.java

@@ -20,7 +20,10 @@ public class Shooter extends Subsystem {
       MechanismConfigBuilder.defaults()
           .motorConfig(
               motor ->
-                  motor.ccwPositive(false).neutralBrake(true).motorToMechanismRatio(28.0 / 16.0))
+                  motor
+                      .ccwPositive(false)
+                      .motorToMechanismRatio(28.0 / 16.0)
+                      .statorCurrentLimit(40.0)) // TODO Test, 40A -> 80A?
           .motionProfileConfig(
               motionProfile -> motionProfile.maximumVelocity(60).maximumAcceleration(200))
           .feedforwardControllerConfig(feedforward -> feedforward.kS(0.14).kV(0.2))
@@ -43,8 +46,8 @@ public class Shooter extends Subsystem {
               motorConfig ->
                   motorConfig
                       .ccwPositive(true)
-                      .neutralBrake(false)
-                      .motorToMechanismRatio(36.0 / 16.0))
+                      .motorToMechanismRatio(36.0 / 16.0)
+                      .statorCurrentLimit(40.0))
           .motionProfileConfig(
               motionProfileConfig ->
                   motionProfileConfig.maximumVelocity(45).maximumAcceleration(450))

src/main/java/frc/robot/swerve/Swerve.java

@@ -40,7 +40,10 @@ public class Swerve extends Subsystem {
       MechanismConfigBuilder.defaults()
           .motorConfig(
               motor ->
-                  motor.ccwPositive(false).currentLimitAmps(20).motorToMechanismRatio(150.0 / 7.0))
+                  motor
+                      .ccwPositive(false)
+                      .motorToMechanismRatio(150.0 / 7.0)
+                      .statorCurrentLimit(20.0))
           .feedforwardControllerConfig(feedforward -> feedforward.kS(0.205))
           .feedbackControllerConfig(
               feedback ->
@@ -55,7 +58,11 @@ public class Swerve extends Subsystem {
   private final MechanismConfig driveConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              motor -> motor.ccwPositive(false).currentLimitAmps(40.0).motorToMechanismRatio(6.75))
+              motor ->
+                  motor
+                      .ccwPositive(false)
+                      .motorToMechanismRatio(6.75)
+                      .statorCurrentLimit(60.0)) // TODO Test, 80A -> 60A -> 50A?
           .feedforwardControllerConfig(feedforward -> feedforward.kS(0.14).kV(0.725))
           .feedbackControllerConfig(feedback -> feedback.kP(0.75))
           .build();