From: iefomit Date: Sun, 29 Mar 2026 17:50:59 +0000 (-0700) Subject: Revert "Merge remote-tracking branch 'origin/browning-out-protection' into week5shutt... X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=9f8e4a9986e9fcc4f1378731c72a8c759c257c6e;p=FRC2026.git Revert "Merge remote-tracking branch 'origin/browning-out-protection' into week5shuttling" This reverts commit fc45f9f6a7cc632f3673b5f40b2b1ce463c90f50, reversing changes made to 96ee6c494399666f849690e53fbb6512a37ab9c5. --- diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8400118..4d3eb8e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,6 +1,5 @@ package frc.robot; -import java.util.concurrent.ScheduledExecutorService; import java.util.function.BooleanSupplier; import org.littletonrobotics.junction.Logger; @@ -20,10 +19,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.ScheduleCommand; +import frc.robot.commands.LogCommand; import frc.robot.commands.drive_comm.DefaultDriveCommand; import frc.robot.commands.gpm.AutoShootCommand; -import frc.robot.commands.gpm.BrownOutControl; import frc.robot.commands.gpm.ClimbDriveCommand; import frc.robot.commands.gpm.IntakeMovementCommand; import frc.robot.commands.gpm.RunSpindexer; @@ -151,10 +149,6 @@ public class RobotContainer { turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer)); } - if (shooter != null && spindexer != null && turret != null && intake != null && hood != null && drive != null) { - CommandScheduler.getInstance().schedule(new BrownOutControl(shooter, spindexer, turret, intake, hood, drive)); - } - drive.setDefaultCommand(new DefaultDriveCommand(drive, driver)); break; } diff --git a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java deleted file mode 100644 index 0fecc1e..0000000 --- a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java +++ /dev/null @@ -1,88 +0,0 @@ -package frc.robot.commands.gpm; - -import edu.wpi.first.math.filter.Debouncer; -import edu.wpi.first.math.filter.Debouncer.DebounceType; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Intake.Intake; -import frc.robot.subsystems.drivetrain.Drivetrain; -import frc.robot.subsystems.hood.Hood; -import frc.robot.subsystems.shooter.Shooter; -import frc.robot.subsystems.spindexer.Spindexer; -import frc.robot.subsystems.spindexer.SpindexerConstants; -import frc.robot.subsystems.turret.Turret; -import frc.robot.util.BrownOut.BrownOutConstants; -import frc.robot.util.BrownOut.BrownOutLevel; - -public class BrownOutControl extends Command { - private Shooter shooter; - private Spindexer spindexer; - private Turret turret; - private Intake intake; - private Hood hood; - private Drivetrain drivetrain; - - public BrownOutLevel[] levels = { - BrownOutConstants.BROWNOUT_LVL_ONE, - BrownOutConstants.BROWNOUT_LVL_TWO, - BrownOutConstants.BROWNOUT_LVL_THREE, - BrownOutConstants.BROWNOUT_LVL_FOUR, - BrownOutConstants.BROWNOUT_LVL_FIVE, - }; - - public BrownOutControl(Shooter shooter, Spindexer spindexer, Turret turret, Intake intake, Hood hood, Drivetrain drivetrain) { - this.shooter = shooter; - this.spindexer = spindexer; - this.turret = turret; - this.intake = intake; - this.hood = hood; - this.drivetrain = drivetrain; - } - - @Override - public void execute() { - BrownOutLevel level = monitor(); - applyLevel(level); - } - - public BrownOutLevel monitor() { - // pretty sure this is where you get it. Need to check if this is same as logs. - // voltage 6.3 is brownout where issues occur, but 4.75 is dead robot - double batteryVoltage = RobotController.getBatteryVoltage(); - if (batteryVoltage > 7.5) { // normal - return levels[0]; - } else if (batteryVoltage > 6.75) { // if 7.5 to 6.75 - return levels[1]; // lower drivetrain - } else if (batteryVoltage > 6.0) { // if 6.75 to 6.0 (browning out) - return levels[2]; - } else if (batteryVoltage > 5.25) { // if 6.0 to 5.0 (mayday) - return levels[3]; - } else { // were are on life support at this point 5.25 to 4.75 - return levels[4]; - } - } - - public void applyLevel(BrownOutLevel level) { - double shooterCurrent = level.shooterCurrent; - double turretCurrent = level.turretCurrent; - double hoodCurrent = level.hoodCurrent; - double spindexerCurrent = level.spindexerCurrent; - double intakeCurrent = level.intakeCurrent; - double steerCurrent = level.steerCurrent; - double driveCurrent = level.driveCurrent; - - // apply them / set them - shooter.setNewCurrentLimit(shooterCurrent); - turret.setCurrentLimits(turretCurrent); - hood.setCurrentLimits(hoodCurrent); - spindexer.setNewCurrentLimit(spindexerCurrent); - intake.setCurrentLimits(intakeCurrent); - drivetrain.applyNewModuleCurrents(steerCurrent, driveCurrent); - } - - @Override - public void end(boolean interrupted) { - // Nothing - applyLevel(levels[0]); // disable - } -} diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 9629224..451307a 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -208,7 +208,7 @@ public class FieldConstants { * * @return Whether Y coordinate is in the upper half (left side on blue alliance) */ - public static boolean isOnLeftSideOfField(Translation2d drivepose) { + public static boolean isOnLeftSideOfField(Translation2d drivepose){ return drivepose.getY() > FIELD_WIDTH/2; } diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java index 2b91f84..87ac3d7 100644 --- a/src/main/java/frc/robot/constants/IntakeConstants.java +++ b/src/main/java/frc/robot/constants/IntakeConstants.java @@ -15,14 +15,12 @@ public class IntakeConstants { public static final double CALIBRATING_CURRENT_LIMITS = 10.0; public static final double CALIBRATING_CURRENT_THRESHOLD = 9.0; - /**Current */ - public static final double NORMAL_CURRENT_LIMIT = 100.0; - public static final double ROLLER_MOI_KG_M_SQ = 0.5 * 0.020 * 0.020; // 0.5kg roller, 20mm radius for now public static final double ROLLER_GEARING = 2.0; public static final double CARRIAGE_MASS_KG = 3.0; public static final double DRUM_RADIUS_METERS = Units.inchesToMeters(1.0); + /** max extension in inches */ public static final double MAX_EXTENSION = 10.5; // inches diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java index 2e41480..b3d335d 100644 --- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java +++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java @@ -129,8 +129,8 @@ public class DriveConstants { public static final double STEER_PEAK_CURRENT_DURATION = 0.01; public static final boolean STEER_ENABLE_CURRENT_LIMIT = true; - public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 40; - public static final int DRIVE_PEAK_CURRENT_LIMIT = 40; + public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 60; + public static final int DRIVE_PEAK_CURRENT_LIMIT = 60; public static final double DRIVE_PEAK_CURRENT_DURATION = 0.01; public static final boolean DRIVE_ENABLE_CURRENT_LIMIT = true; diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index 0af0c6e..205e9b1 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.StartEndCommand; import frc.robot.Robot; -import frc.robot.commands.gpm.BrownOutControl; import frc.robot.commands.gpm.IntakeMovementCommand; import frc.robot.commands.gpm.ReverseMotors; import frc.robot.commands.gpm.RunSpindexer; @@ -166,11 +165,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { hood.forceHoodDown(false); })); } - - // turns it on - // controller.get(PS5Button.TOUCHPAD).onTrue(new InstantCommand(() -> { - // new BrownOutControl(shooter, spindexer, turret, intake, hood, getDrivetrain()); - // })); } @Override diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 5abcbc4..d42d8b1 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -29,7 +29,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.constants.Constants; import frc.robot.constants.IdConstants; import frc.robot.constants.IntakeConstants; -import frc.robot.subsystems.shooter.ShooterConstants; public class Intake extends SubsystemBase implements IntakeIO{ // Mechanism Display... @@ -135,12 +134,6 @@ public class Intake extends SubsystemBase implements IntakeIO{ new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast) ); - CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs(); - limitConfig.StatorCurrentLimit = IntakeConstants.NORMAL_CURRENT_LIMIT; - limitConfig.StatorCurrentLimitEnable = true; - leftMotor.getConfigurator().apply(limitConfig); - rightMotor.getConfigurator().apply(limitConfig); - leftMotor.setPosition(0.0); rightMotor.setPosition(0.0); diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java index 8bb99c6..cb77ac2 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java @@ -374,13 +374,6 @@ public class Drivetrain extends SubsystemBase { trenchAlign = target; } - // for current limit setting (brownout protection) - public void applyNewModuleCurrents(double steerCurrent, double driveCurren) { - for (Module module : modules) { // iterate over our modules - module.setNewCurrentLimit(steerCurrent, driveCurren); - } - } - /** * Sets the desired states for all swerve modules. * diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java index 7c01282..d30e47e 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java @@ -342,28 +342,6 @@ public class Module implements ModuleIO{ public double getDriveStatorCurrent(){ return inputs.driveCurrentAmps; } - - // I took the config things straight from this file - public void setNewCurrentLimit(double currentSteer, double currentDrive) { - CurrentLimitsConfigs steerConfig = new CurrentLimitsConfigs(); - // steer - steerConfig.SupplyCurrentLimitEnable = DriveConstants.STEER_ENABLE_CURRENT_LIMIT; - steerConfig.SupplyCurrentLimit = currentSteer; - steerConfig.SupplyCurrentLowerLimit = currentSteer; - steerConfig.SupplyCurrentLowerTime = DriveConstants.STEER_PEAK_CURRENT_DURATION; - angleMotor.getConfigurator().apply(steerConfig); // apply - - // drive - CurrentLimitsConfigs dirveConfig = new CurrentLimitsConfigs(); - dirveConfig.SupplyCurrentLimitEnable = DriveConstants.DRIVE_ENABLE_CURRENT_LIMIT; - dirveConfig.SupplyCurrentLimit = currentDrive; - dirveConfig.SupplyCurrentLowerLimit = currentDrive; - dirveConfig.SupplyCurrentLowerTime = DriveConstants.DRIVE_PEAK_CURRENT_DURATION; - dirveConfig.StatorCurrentLimit = currentDrive; - dirveConfig.StatorCurrentLimitEnable = DriveConstants.DRIVE_ENABLE_CURRENT_LIMIT; - driveMotor.getConfigurator().apply(dirveConfig); // apply - } - private void configDriveMotor() { var talonFXConfigs = new TalonFXConfiguration(); // set Motion Magic settings diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index f6c704e..6af0e27 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -3,7 +3,6 @@ package frc.robot.subsystems.shooter; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; -import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.VelocityVoltage; @@ -17,7 +16,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.constants.Constants; import frc.robot.constants.IdConstants; -import frc.robot.subsystems.spindexer.SpindexerConstants; import frc.robot.util.HubActive; public class Shooter extends SubsystemBase implements ShooterIO { @@ -56,12 +54,6 @@ public class Shooter extends SubsystemBase implements ShooterIO { new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast) ); - CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs(); - limitConfig.StatorCurrentLimit = ShooterConstants.SHOOTER_CURRENT_LIMIT; - limitConfig.StatorCurrentLimitEnable = true; - shooterMotorLeft.getConfigurator().apply(limitConfig); - shooterMotorRight.getConfigurator().apply(limitConfig); - SmartDashboard.putData("Turn on shooter", new InstantCommand(()-> setShooter(12.0))); } @@ -111,14 +103,6 @@ public class Shooter extends SubsystemBase implements ShooterIO { return inputs.shooterSpeedLeft; } - public void setNewCurrentLimit(double newCurrentLimit) { - CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs(); - limitConfig.StatorCurrentLimit = newCurrentLimit; - limitConfig.StatorCurrentLimitEnable = true; - shooterMotorLeft.getConfigurator().apply(limitConfig); - shooterMotorRight.getConfigurator().apply(limitConfig); - } - @Override public void updateInputs(){ inputs.shooterSpeedLeft = Units.rotationsToRadians(shooterMotorLeft.getVelocity().getValueAsDouble()) * ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2; diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java index 29191c9..e320c55 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java @@ -5,5 +5,4 @@ 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; } diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java index 6440078..79155d9 100644 --- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java +++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java @@ -99,15 +99,6 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { return inputs.spindexerCurrent; } - public void setNewCurrentLimit(double newCurrentLimit) { - CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs(); - limitConfig.StatorCurrentLimit = SpindexerConstants.CURRENT_SPIKE_LIMIT; - limitConfig.StatorCurrentLimitEnable = true; - limitConfig.SupplyCurrentLowerLimit = newCurrentLimit; - limitConfig.SupplyCurrentLowerTime = 1.5; - motor.getConfigurator().apply(limitConfig); - } - @Override public void updateInputs() { inputs.spindexerVelocity = motor.getVelocity().getValueAsDouble(); //SpindexerConstants.gearRatio; diff --git a/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java b/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java deleted file mode 100644 index b560936..0000000 --- a/src/main/java/frc/robot/util/BrownOut/BrownOutConstants.java +++ /dev/null @@ -1,80 +0,0 @@ -package frc.robot.util.BrownOut; - -import frc.robot.constants.IntakeConstants; -import frc.robot.constants.swerve.DriveConstants; -import frc.robot.subsystems.hood.HoodConstants; -import frc.robot.subsystems.shooter.ShooterConstants; -import frc.robot.subsystems.spindexer.SpindexerConstants; -import frc.robot.subsystems.turret.TurretConstants; - -public class BrownOutConstants { - /* level one should be less protected that level two and so on. So the current limits will be higher at lvl one. - Order is: - Shooter, (applied to both motors) - Hood, - Spindexer, - Turret, - Intake, - Steer (main power draw) (is applied to continous and peak) - Drive (main power draw) (is applied to continous and peak) - */ - - // currently for show. I would imagine u would decrease movement: drivetrain, then bps impacters: intake/indexing speed, and then a bit on aiming: turret/hood. - // I don't see a world where you would decrease shooter current, but we need to do some testing to see how much current we are at when shooting - - // normal - public static final BrownOutLevel BROWNOUT_LVL_ONE = new BrownOutLevel( - ShooterConstants.SHOOTER_CURRENT_LIMIT, - HoodConstants.NORMAL_CURRENT_LIMIT, - SpindexerConstants.currentLimit, - TurretConstants.NORMAL_CURRENT_LIMIT, - IntakeConstants.NORMAL_CURRENT_LIMIT, - DriveConstants.STEER_PEAK_CURRENT_LIMIT, - DriveConstants.DRIVE_PEAK_CURRENT_LIMIT - ); - - // should deplete drivetrain a bit and lower everything else slightly. Preserve Shooter. - 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 - 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 - DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.8 // lower drive movement - ); - - // lower bps systems: intake & spindexer. Preserve Shooter. Slight lower on evertthing else - 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 - 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 - DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.7 // lower drive movement - ); - - // lower aiming systems: turret & hood. Preserve Shooter. Slight lower on everything else - 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 - 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 - DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.5 // lower drive movement - ); - - // now we have to deplete shooter... THIS IS REALLY BAD IS IT COMES TO THIS. - 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 - 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 - DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.45 // lower drive movement - ); - -} \ No newline at end of file diff --git a/src/main/java/frc/robot/util/BrownOut/BrownOutLevel.java b/src/main/java/frc/robot/util/BrownOut/BrownOutLevel.java deleted file mode 100644 index 11b1992..0000000 --- a/src/main/java/frc/robot/util/BrownOut/BrownOutLevel.java +++ /dev/null @@ -1,32 +0,0 @@ -package frc.robot.util.BrownOut; - -public class BrownOutLevel { - // in percentage values (0.0-1.0) - public double shooterCurrent; // A -> priority one - public double hoodCurrent; // A -> priority two - public double turretCurrent; // A -> priority two - public double spindexerCurrent; // A -> priority three - public double intakeCurrent; // A -> priority three - public double steerCurrent; // A -> priority four? (idk) - public double driveCurrent; // A -> priority four? (idk) - - public BrownOutLevel( - double shooterCurrent, - double hoodCurrent, - double turretCurrent, - double spindexerCurrent, - double intakeCurrent, - double steerCurrent, - double driveCurrent - ) { - this.shooterCurrent = shooterCurrent; - this.hoodCurrent = hoodCurrent; - this.spindexerCurrent = spindexerCurrent; - this.intakeCurrent = intakeCurrent; - this.turretCurrent = turretCurrent; - this.steerCurrent = steerCurrent; - this.driveCurrent = driveCurrent; - } - -} -