Replace custom swerve current limit config code with new Phoenix init…

…ialConfigs feature
team581 · Jul 16, 2024 · c5164ed · c5164ed
1 parent b881cac
commit c5164ed
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Showing 6 changed files with 48 additions and 64 deletions.
diff --git a/src/main/java/frc/robot/config/CompConfig.java b/src/main/java/frc/robot/config/CompConfig.java
@@ -252,24 +252,8 @@ class CompConfig {
                   .withClosedLoopRamps(CLOSED_LOOP_RAMP)
                   .withOpenLoopRamps(OPEN_LOOP_RAMP)),
           new SwerveConfig(
-              new CurrentLimitsConfigs()
-                  .withSupplyCurrentLimit(20)
-                  .withStatorCurrentLimit(70)
-                  .withSupplyCurrentLimitEnable(true)
-                  .withStatorCurrentLimitEnable(true),
-              new CurrentLimitsConfigs()
-                  .withSupplyCurrentLimit(120)
-                  .withStatorCurrentLimit(70)
-                  .withSupplyCurrentLimitEnable(true)
-                  .withStatorCurrentLimitEnable(true),
-              new TorqueCurrentConfigs()
-                  .withPeakForwardTorqueCurrent(80)
-                  .withPeakReverseTorqueCurrent(-80),
               // new PhoenixPIDController(50, 0, 5),
-              new PhoenixPIDController(20, 0, 2),
-              true,
-              true,
-              true),
+              new PhoenixPIDController(20, 0, 2), true, true, true),
           new IMUConfig(
               1,
               distanceToAngleTolerance -> {

diff --git a/src/main/java/frc/robot/config/PracticeConfig.java b/src/main/java/frc/robot/config/PracticeConfig.java
@@ -247,24 +247,7 @@ class PracticeConfig {
                       new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive))
                   .withClosedLoopRamps(CLOSED_LOOP_RAMP)
                   .withOpenLoopRamps(OPEN_LOOP_RAMP)),
-          new SwerveConfig(
-              new CurrentLimitsConfigs()
-                  .withSupplyCurrentLimit(20)
-                  .withStatorCurrentLimit(70)
-                  .withSupplyCurrentLimitEnable(true)
-                  .withStatorCurrentLimitEnable(true),
-              new CurrentLimitsConfigs()
-                  .withSupplyCurrentLimit(150)
-                  .withStatorCurrentLimit(70)
-                  .withSupplyCurrentLimitEnable(true)
-                  .withStatorCurrentLimitEnable(true),
-              new TorqueCurrentConfigs()
-                  .withPeakForwardTorqueCurrent(80)
-                  .withPeakReverseTorqueCurrent(-80),
-              new PhoenixPIDController(10, 0, 1),
-              true,
-              true,
-              true),
+          new SwerveConfig(new PhoenixPIDController(10, 0, 1), true, true, true),
           new IMUConfig(
               1,
               distanceToAngleTolerance -> {

diff --git a/src/main/java/frc/robot/config/RobotConfig.java b/src/main/java/frc/robot/config/RobotConfig.java
@@ -4,9 +4,7 @@
 
 package frc.robot.config;
 
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.configs.TorqueCurrentConfigs;
 import com.ctre.phoenix6.mechanisms.swerve.utility.PhoenixPIDController;
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -92,9 +90,6 @@ public record IMUConfig(
   public record LightsConfig(int deviceID) {}
 
   public record SwerveConfig(
-      CurrentLimitsConfigs steerMotorCurrentLimits,
-      CurrentLimitsConfigs driveMotorCurrentLimits,
-      TorqueCurrentConfigs driveMotorTorqueCurrentLimits,
       PhoenixPIDController snapController,
       boolean invertRotation,
       boolean invertX,

diff --git a/src/main/java/frc/robot/generated/CompBotTunerConstants.java b/src/main/java/frc/robot/generated/CompBotTunerConstants.java
@@ -4,7 +4,10 @@
 
 package frc.robot.generated;
 
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.configs.TorqueCurrentConfigs;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.ClosedLoopOutputType;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
@@ -69,6 +72,26 @@ public class CompBotTunerConstants {
 
   private static final SwerveModuleConstantsFactory ConstantCreator =
       new SwerveModuleConstantsFactory()
+          .withDriveMotorInitialConfigs(
+              new TalonFXConfiguration()
+                  .withCurrentLimits(
+                      new CurrentLimitsConfigs()
+                          .withSupplyCurrentLimit(120)
+                          .withStatorCurrentLimit(70)
+                          .withSupplyCurrentLimitEnable(true)
+                          .withStatorCurrentLimitEnable(true))
+                  .withTorqueCurrent(
+                      new TorqueCurrentConfigs()
+                          .withPeakForwardTorqueCurrent(80)
+                          .withPeakReverseTorqueCurrent(-80)))
+          .withSteerMotorInitialConfigs(
+              new TalonFXConfiguration()
+                  .withCurrentLimits(
+                      new CurrentLimitsConfigs()
+                          .withSupplyCurrentLimit(20)
+                          .withStatorCurrentLimit(70)
+                          .withSupplyCurrentLimitEnable(true)
+                          .withStatorCurrentLimitEnable(true)))
           .withDriveMotorGearRatio(kDriveGearRatio)
           .withSteerMotorGearRatio(kSteerGearRatio)
           .withWheelRadius(kWheelRadiusInches)

diff --git a/src/main/java/frc/robot/generated/PracticeBotTunerConstants.java b/src/main/java/frc/robot/generated/PracticeBotTunerConstants.java
@@ -4,7 +4,10 @@
 
 package frc.robot.generated;
 
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.configs.TorqueCurrentConfigs;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.ClosedLoopOutputType;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
@@ -69,6 +72,26 @@ public class PracticeBotTunerConstants {
 
   private static final SwerveModuleConstantsFactory ConstantCreator =
       new SwerveModuleConstantsFactory()
+          .withDriveMotorInitialConfigs(
+              new TalonFXConfiguration()
+                  .withCurrentLimits(
+                      new CurrentLimitsConfigs()
+                          .withSupplyCurrentLimit(150)
+                          .withStatorCurrentLimit(70)
+                          .withSupplyCurrentLimitEnable(true)
+                          .withStatorCurrentLimitEnable(true))
+                  .withTorqueCurrent(
+                      new TorqueCurrentConfigs()
+                          .withPeakForwardTorqueCurrent(80)
+                          .withPeakReverseTorqueCurrent(-80)))
+          .withSteerMotorInitialConfigs(
+              new TalonFXConfiguration()
+                  .withCurrentLimits(
+                      new CurrentLimitsConfigs()
+                          .withSupplyCurrentLimit(20)
+                          .withStatorCurrentLimit(70)
+                          .withSupplyCurrentLimitEnable(true)
+                          .withStatorCurrentLimitEnable(true)))
           .withDriveMotorGearRatio(kDriveGearRatio)
           .withSteerMotorGearRatio(kSteerGearRatio)
           .withWheelRadius(kWheelRadiusInches)

diff --git a/src/main/java/frc/robot/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/swerve/SwerveSubsystem.java
@@ -67,25 +67,6 @@ public class SwerveSubsystem extends LifecycleSubsystem {
   private final double AccelerationLimit = 3.2;
   private Translation2d previousVelocity = new Translation2d();
 
-  /**
-   * Helper for applying current limits to swerve modules, since the CTR swerve builder API doesn't
-   * support it.
-   */
-  private static void applyCurrentLimits(SwerveModule module) {
-    module
-        .getDriveMotor()
-        .getConfigurator()
-        .apply(RobotConfig.get().swerve().driveMotorCurrentLimits());
-    module
-        .getSteerMotor()
-        .getConfigurator()
-        .apply(RobotConfig.get().swerve().steerMotorCurrentLimits());
-    module
-        .getDriveMotor()
-        .getConfigurator()
-        .apply(RobotConfig.get().swerve().driveMotorTorqueCurrentLimits());
-  }
-
   private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
   private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
   private boolean snapToAngle = false;
@@ -131,11 +112,6 @@ public SwerveSubsystem(CommandXboxController driveController) {
     driveToAngle.HeadingController.enableContinuousInput(-Math.PI, Math.PI);
     driveToAngle.HeadingController.setTolerance(0.02);
 
-    applyCurrentLimits(frontLeft);
-    applyCurrentLimits(frontRight);
-    applyCurrentLimits(backLeft);
-    applyCurrentLimits(backRight);
-
     omegaPid.enableContinuousInput(-Math.PI, Math.PI);
   }