From 1d82e8e17b4c131da7503007778aed6e6d257ce9 Mon Sep 17 00:00:00 2001 From: moo Date: Mon, 20 Apr 2026 14:51:10 -0700 Subject: [PATCH] increased shooter stator current lim --- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 2 +- .../frc/robot/subsystems/shooter/ShooterConstants.java | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index b764bee..f05d70c 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -62,7 +62,7 @@ public class Shooter extends SubsystemBase implements ShooterIO { ); CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs(); - limitConfig.StatorCurrentLimit = ShooterConstants.SHOOTER_CURRENT_LIMIT; + limitConfig.StatorCurrentLimit = ShooterConstants.SHOOTER_STATOR_CURRENT_LIMIT; limitConfig.StatorCurrentLimitEnable = true; shooterMotorLeft.getConfigurator().apply(limitConfig); shooterMotorRight.getConfigurator().apply(limitConfig); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java index 29191c9..977e06c 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java @@ -3,7 +3,8 @@ package frc.robot.subsystems.shooter; 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; + 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; + public static final double SHOOTER_STATOR_CURRENT_LIMIT = 120.0; } -- 2.39.5