added current limits for swerve steering

frc2053 · May 26, 2024 · d57cc75 · d57cc75
1 parent 4ae2695
commit d57cc75
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diff --git a/src/main/cpp/str/SwerveModule.cpp b/src/main/cpp/str/SwerveModule.cpp
@@ -359,6 +359,11 @@ ctre::phoenix::StatusCode SwerveModule::ConfigureSteerMotor(bool invertSteer) {
   steerConfig.CurrentLimits.SupplyCurrentLimit =
       constants::swerve::physical::SUPPLY_CURRENT_LIMIT.value();
 
+  steerConfig.TorqueCurrent.PeakForwardTorqueCurrent =
+      constants::swerve::physical::SWERVE_STEER_CURRENT_LIMIT.value();
+  steerConfig.TorqueCurrent.PeakReverseTorqueCurrent =
+      -constants::swerve::physical::SWERVE_STEER_CURRENT_LIMIT.value();
+
   return steerMotor.GetConfigurator().Apply(steerConfig);
 }
 

diff --git a/src/main/include/Constants.h b/src/main/include/Constants.h
@@ -295,6 +295,8 @@ inline constexpr double BR_ENCODER_OFFSET = 0.112793;
 inline constexpr units::ampere_t SLIP_CURRENT = 180_A;
 inline constexpr units::ampere_t SUPPLY_CURRENT_LIMIT = 80_A;
 
+inline constexpr units::ampere_t SWERVE_STEER_CURRENT_LIMIT = 40_A;
+
 inline constexpr std::array<frc::Translation2d, 4> moduleLocations{
     frc::Translation2d{WHEELBASE_LENGTH / 2, WHEELBASE_WIDTH / 2},
     frc::Translation2d{WHEELBASE_LENGTH / 2, -WHEELBASE_WIDTH / 2},