From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Sat, 18 Apr 2026 23:22:35 +0000 (-0700)
Subject: working
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=441d2479c57664d2d84523b4e6ac02b702684805;p=FRC2026.git

working
---

diff --git a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
index cfa986c..d7f2b7d 100644
--- a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
+++ b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
@@ -79,7 +79,7 @@ public class BrownOutControl extends Command {
         shooter.setNewCurrentLimit(shooterCurrent);
         turret.setCurrentLimits(turretCurrent);
         hood.setCurrentLimits(hoodCurrent);
-        spindexer.setNewCurrentLimit(spindexerCurrent);
+        spindexer.setNewCurrentLimit(spindexerCurrent, 67);
         intake.setCurrentLimits(intakeCurrent);
         drivetrain.applyNewModuleCurrents(steerCurrent, driveCurrent);
 
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 9b57820..be2e21f 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -161,12 +161,12 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
     private void shootFocus(boolean turnOn) {
         if (turnOn) {
             System.out.println("Shooting is now Focused");
-            spindexer.setNewCurrentLimit(SpindexerConstants.currentLimit);
+            spindexer.setNewCurrentLimit(SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT, SpindexerConstants.SUPPLY_CURRENT_LIMIT);
             drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, 
                     DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.25);
         } else {
             System.out.println("Shooting back to normal (From focus)");
-            spindexer.setNewCurrentLimit(SpindexerConstants.currentLimit);
+                        spindexer.setNewCurrentLimit(SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT, SpindexerConstants.SUPPLY_CURRENT_LIMIT);
             drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, 
                     DriveConstants.DRIVE_PEAK_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 54c2152..90316db 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -31,9 +31,9 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
         // configure current limit
         CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
-        limitConfig.StatorCurrentLimit = SpindexerConstants.CURRENT_STATOR_LIMIT;
+        limitConfig.StatorCurrentLimit = SpindexerConstants.SUPPLY_CURRENT_LIMIT;
         limitConfig.StatorCurrentLimitEnable = true;
-        limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.FORWARD_SUPPLY_CURRENT_LIMIT;
+        limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT;
         limitConfig.SupplyCurrentLimitEnable = true;
         motorOne.getConfigurator().apply(limitConfig);
         motorTwo.getConfigurator().apply(limitConfig);
diff --git a/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java b/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java
index f9dc0c6..82364d6 100644
--- a/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java
+++ b/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java
@@ -32,7 +32,7 @@ public class BrownOutConstants {
     public static final BrownOutLevel BROWNOUT_LVL_ONE = new BrownOutLevel(
         ShooterConstants.SHOOTER_CURRENT_LIMIT, 
         HoodConstants.NORMAL_CURRENT_LIMIT, 
-        SpindexerConstants.currentLimit, 
+        SpindexerConstants.SUPPLY_CURRENT_LIMIT, 
         TurretConstants.NORMAL_CURRENT_LIMIT, 
         IntakeConstants.NORMAL_CURRENT_LIMIT, 
         DriveConstants.STEER_PEAK_CURRENT_LIMIT, 
@@ -43,7 +43,7 @@ public class BrownOutConstants {
     public static final BrownOutLevel BROWNOUT_LVL_TWO = new BrownOutLevel(
         ShooterConstants.SHOOTER_CURRENT_LIMIT * 1.0, // keep as same 
         HoodConstants.NORMAL_CURRENT_LIMIT * 1.0, // preserve aiming speed
-        SpindexerConstants.currentLimit * 1.0, // preserve indexing speed
+        SpindexerConstants.SUPPLY_CURRENT_LIMIT * 1.0, // preserve indexing speed
         TurretConstants.NORMAL_CURRENT_LIMIT * 1.0, // preserve aiming speed
         IntakeConstants.NORMAL_CURRENT_LIMIT * 1.0, // preserve indexing speed
         DriveConstants.STEER_PEAK_CURRENT_LIMIT * 0.8, // lower drive rotation
@@ -54,7 +54,7 @@ public class BrownOutConstants {
     public static final BrownOutLevel BROWNOUT_LVL_THREE = new BrownOutLevel(
         ShooterConstants.SHOOTER_CURRENT_LIMIT * 1.0, // keep as same 
         HoodConstants.NORMAL_CURRENT_LIMIT * 1.0, // preserve aiming speed
-        SpindexerConstants.currentLimit * 0.8, // preserve indexing speed
+        SpindexerConstants.SUPPLY_CURRENT_LIMIT * 0.8, // preserve indexing speed
         TurretConstants.NORMAL_CURRENT_LIMIT * 1.0, // preserve aiming speed
         IntakeConstants.NORMAL_CURRENT_LIMIT * 0.8, // preserve indexing speed
         DriveConstants.STEER_PEAK_CURRENT_LIMIT * 0.7, // lower drive rotation
@@ -65,7 +65,7 @@ public class BrownOutConstants {
     public static final BrownOutLevel BROWNOUT_LVL_FOUR = new BrownOutLevel(
         ShooterConstants.SHOOTER_CURRENT_LIMIT * 1.0, // keep as same 
         HoodConstants.NORMAL_CURRENT_LIMIT * 0.8, // preserve aiming speed
-        SpindexerConstants.currentLimit * 0.6, // preserve indexing speed
+        SpindexerConstants.SUPPLY_CURRENT_LIMIT * 0.6, // preserve indexing speed
         TurretConstants.NORMAL_CURRENT_LIMIT * 0.8, // preserve aiming speed
         IntakeConstants.NORMAL_CURRENT_LIMIT * 0.6, // preserve indexing speed
         DriveConstants.STEER_PEAK_CURRENT_LIMIT * 0.5, // lower drive rotation
@@ -76,7 +76,7 @@ public class BrownOutConstants {
     public static final BrownOutLevel BROWNOUT_LVL_FIVE = new BrownOutLevel(
         ShooterConstants.SHOOTER_CURRENT_LIMIT * 0.8, // keep as same 
         HoodConstants.NORMAL_CURRENT_LIMIT * 0.7, // preserve aiming speed
-        SpindexerConstants.currentLimit * 0.5, // preserve indexing speed
+        SpindexerConstants.SUPPLY_CURRENT_LIMIT * 0.5, // preserve indexing speed
         TurretConstants.NORMAL_CURRENT_LIMIT * 0.7, // preserve aiming speed
         IntakeConstants.NORMAL_CURRENT_LIMIT * 0.5, // preserve indexing speed
         DriveConstants.STEER_PEAK_CURRENT_LIMIT * 0.45, // lower drive rotation