From: iefomit <timofei.stem@gmail.com>
Date: Tue, 31 Mar 2026 08:13:49 +0000 (-0700)
Subject: better current values
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2d8058510c8b2e1c13c8dfd3c6669c84c9a6b139;p=FRC2026.git

better current values
---

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index b3d335d..d8e49f4 100644
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -124,14 +124,14 @@ public class DriveConstants {
         public static COTSFalconSwerveConstants MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK4i(DRIVE_GEAR_RATIO);
     
         /* Swerve Current Limiting */
-        public static final int STEER_CONTINUOUS_CURRENT_LIMIT = 15;
-        public static final int STEER_PEAK_CURRENT_LIMIT = 15;
-        public static final double STEER_PEAK_CURRENT_DURATION = 0.01;
+        public static final int STEER_CONTINUOUS_CURRENT_LIMIT = 20;
+        public static final int STEER_PEAK_CURRENT_LIMIT = 30;
+        public static final double STEER_PEAK_CURRENT_DURATION = 0.1;
         public static final boolean STEER_ENABLE_CURRENT_LIMIT = true;
     
-        public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 60;
+        public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 40;
         public static final int DRIVE_PEAK_CURRENT_LIMIT = 60;
-        public static final double DRIVE_PEAK_CURRENT_DURATION = 0.01;
+        public static final double DRIVE_PEAK_CURRENT_DURATION = 0.1;
         public static final boolean DRIVE_ENABLE_CURRENT_LIMIT = true;
     
         /* Motor inversions */