add current limit

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index a6b543361ba8980a0ef54374a0d5d5458649dd13..2b387aced3484c6c2c6d9e74eed574ef15315f23 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -1,5 +1,6 @@
 package frc.robot.subsystems.spindexer;
 
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import org.littletonrobotics.junction.Logger;
@@ -20,6 +21,12 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
     public Spindexer() {
         updateInputs();
+        
+        // configure current limit
+        CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
+        limitConfig.StatorCurrentLimit = SpindexerConstants.currentLimit;
+        limitConfig.StatorCurrentLimitEnable = true;
+        motor.getConfigurator().apply(limitConfig);
     }
 
     @Override

diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 5526b5518e1d4f02277266041fc46189c3d36e50..298498adf815bb95f718981f60f51ee2c77a161c 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -3,4 +3,5 @@ package frc.robot.subsystems.spindexer;
 public class SpindexerConstants {
     public static final double spindexerVelocityWithBall = 6.0; // rps (for counting balls)
     public static final double spindexerMaxPower = 1.0;
+    public static final int currentLimit = 30; // amps
 }