increased shooter stator current lim

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index b764bee4962e5b8f94d11c36679b71c803c2a6a5..f05d70cc8cf44d07e7bb0534946f1082d493acd2 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -62,7 +62,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         );
 
         CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
-        limitConfig.StatorCurrentLimit = ShooterConstants.SHOOTER_CURRENT_LIMIT;
+        limitConfig.StatorCurrentLimit = ShooterConstants.SHOOTER_STATOR_CURRENT_LIMIT;
         limitConfig.StatorCurrentLimitEnable = true;
         shooterMotorLeft.getConfigurator().apply(limitConfig);
         shooterMotorRight.getConfigurator().apply(limitConfig);

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
index 29191c98b073e2591fa9a29a26fded58a21957e8..977e06c3e728f5cc1a8f79a01da15e50c7c604bc 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
@@ -3,7 +3,8 @@ package frc.robot.subsystems.shooter;
 import edu.wpi.first.math.util.Units;
 
 public class ShooterConstants {
-    public static final double SHOOTER_VELOCITY = 1.0;
-    public static final double SHOOTER_LAUNCH_DIAMETER = Units.inchesToMeters(4.0);
-    public static final double SHOOTER_CURRENT_LIMIT = 40.0;
+  public static final double SHOOTER_VELOCITY = 1.0;
+  public static final double SHOOTER_LAUNCH_DIAMETER = Units.inchesToMeters(4.0);
+  public static final double SHOOTER_CURRENT_LIMIT = 40.0;
+  public static final double SHOOTER_STATOR_CURRENT_LIMIT = 120.0;
 }