From faa00f45f56f764aff4dcfb24fd1874b98b95522 Mon Sep 17 00:00:00 2001
From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Mon, 23 Mar 2026 15:23:05 -0700
Subject: [PATCH] current limit and stuff

---
 .../java/frc/robot/constants/swerve/DriveConstants.java   | 2 +-
 src/main/java/frc/robot/subsystems/shooter/Shooter.java   | 8 +++++++-
 .../frc/robot/subsystems/shooter/ShooterConstants.java    | 1 +
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index f39931f..5d69304 100644
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -53,7 +53,7 @@ public class DriveConstants {
         // To do so, divide by the radius. The radius is the diagonal of the square chassis, diagonal = sqrt(2) * side_length.
         public static final double MAX_ANGULAR_SPEED = MAX_SPEED / ((TRACK_WIDTH / 2) * Math.sqrt(2));
     
-        public static final double COSF = 1.5;
+        public static final double COSF = 2.255;
         
         // The maximum acceleration of the robot, limited by friction
         public static final double MAX_LINEAR_ACCEL = COSF * Constants.GRAVITY_ACCELERATION;
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 024c11f..10969cd 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -16,6 +16,7 @@ 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.constants.IntakeConstants;
 import frc.robot.util.HubActive;
 
 public class Shooter extends SubsystemBase implements ShooterIO {
@@ -38,7 +39,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     double powerModifier = 1.05; // TESTED
 
-    public Shooter(){
+    public Shooter() {
         updateInputs();
         
         TalonFXConfiguration config = new TalonFXConfiguration();
@@ -46,6 +47,11 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         config.Slot0.kI = 0;
         config.Slot0.kD = 0.0;
         config.Slot0.kV = 0.125; //Maximum rps = 100 --> 12V/100rps
+
+        config.CurrentLimits
+        .withSupplyCurrentLimit(ShooterConstants.SHOOTER_CURRENT_LIMIT)
+        .withSupplyCurrentLimitEnable(true);
+
         shooterMotorLeft.getConfigurator().apply(config);
         shooterMotorRight.getConfigurator().apply(config);
         
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
index e320c55..6644426 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
@@ -5,4 +5,5 @@ 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 = 80;
 }
-- 
2.39.5