From: iefomit <timofei.stem@gmail.com>
Date: Mon, 16 Feb 2026 22:03:08 +0000 (-0800)
Subject: add current limit
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=b0f11782f696db207b2a6a9db1696c94675921f7;p=FRC2026.git

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 a6b5433..2b387ac 100644
--- 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 5526b55..298498a 100644
--- 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
 }