Team_2648/2026-Robot-Code
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Current limit change for RollerIndexer

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This commit is contained in:
Bradley Bickford
2026-04-11 19:34:38 -04:00
parent e6a0573eae
commit 582b0d9135
2 changed files with 4 additions and 5 deletions
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4
src/main/java/frc/robot/constants/RollerIndexerConstants.java
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@@ -7,11 +7,11 @@ public class RollerIndexerConstants {
public static final int kMotor1CANID = 50; public static final int kMotor1CANID = 50;
public static final int kMotor2CANID = 4; public static final int kMotor2CANID = 4;
public static final int kCurrentLimit = 30; public static final int kCurrentLimit = 40;
public static final double kMotorSpeed = 1; public static final double kMotorSpeed = 1;
public static final boolean kMotorInverted = false; public static final boolean kMotorInverted = true;
public static final IdleMode kIdleMode = IdleMode.kBrake; public static final IdleMode kIdleMode = IdleMode.kBrake;

5
src/main/java/frc/robot/subsystems/RollerIndexer.java
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@@ -12,7 +12,6 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.RollerIndexerConstants; import frc.robot.constants.RollerIndexerConstants;
import frc.robot.constants.SpindexerConstants;
import frc.robot.interfaces.IIndexer; import frc.robot.interfaces.IIndexer;
public class RollerIndexer extends SubsystemBase implements IIndexer { public class RollerIndexer extends SubsystemBase implements IIndexer {
@@ -24,13 +23,13 @@ public class RollerIndexer extends SubsystemBase implements IIndexer {
motor2 = new SparkMax(RollerIndexerConstants.kMotor2CANID, MotorType.kBrushless); motor2 = new SparkMax(RollerIndexerConstants.kMotor2CANID, MotorType.kBrushless);
motor1.configure( motor1.configure(
SpindexerConstants.kFeederConfig, RollerIndexerConstants.kMotorConfig,
ResetMode.kResetSafeParameters, ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters PersistMode.kPersistParameters
); );
motor2.configure( motor2.configure(
SpindexerConstants.kFeederConfig, RollerIndexerConstants.kMotorConfig,
ResetMode.kResetSafeParameters, ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters PersistMode.kPersistParameters
); );