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add auto-only drive current limit #147

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add auto-only drive current limit #147

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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,8 @@ public static class DrivetrainConstants {

// Drive motor current limits (in Amps)
public static final double DRIVE_STATOR_CURRENT_LIMIT = 80;
public static final double DRIVE_SUPPLY_CURRENT_LIMIT = 45;
public static final double DRIVE_SUPPLY_CURRENT_LIMIT = 35;
public static final double DRIVE_SUPPLY_CURRENT_LIMIT_AUTO = 45;

// Steer motor current limits (in Amps)
public static final double STEER_STATOR_CURRENT_LIMIT = 60;
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9 changes: 9 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -121,6 +121,9 @@ public void disabledPeriodic() {}
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
// Set drive motor current limit for autonomous
m_robotContainer.m_drivetrain.setAutoDriveMotorSupplyCurrentLimit();

m_autonomousCommand = m_robotContainer.getAutonomousCommand();
m_robotContainer.resetPosition();

Expand All @@ -134,6 +137,12 @@ public void autonomousInit() {
@Override
public void autonomousPeriodic() {}

@Override
public void autonomousExit() {

@augmentcode augmentcode Bot Apr 10, 2026

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autonomousExit() is the only place that restores the default supply current limit; if that hook doesn’t run for any reason (unexpected restart / mode transition behavior), the higher auto limit could persist into teleop. Is there a reason you’re not also ensuring the default limit is restored on other transitions?

Severity: medium

Fix This in Augment

🤖 Was this useful? React with 👍 or 👎, or 🚀 if it prevented an incident/outage.

// Reset drive motor current limit to default when exiting autonomous
m_robotContainer.m_drivetrain.setDefaultDriveMotorSupplyCurrentLimit();
}

@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
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27 changes: 27 additions & 0 deletions src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java
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Expand Up @@ -6,6 +6,7 @@

import com.ctre.phoenix6.SignalLogger;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveRequest;
Expand Down Expand Up @@ -231,6 +232,32 @@ public CommandSwerveDrivetrain(
configureAutoBuilder();
}

/**
* Sets the supply current limit for all drive motors.
*
* @param currentLimit The supply current limit in amps
*/
private void setDriveMotorSupplyCurrentLimit(double currentLimit) {
var currentLimitsConfig = new CurrentLimitsConfigs()
.withStatorCurrentLimit(Amps.of(DrivetrainConstants.DRIVE_STATOR_CURRENT_LIMIT))
.withStatorCurrentLimitEnable(true)
.withSupplyCurrentLimit(currentLimit)
.withSupplyCurrentLimitEnable(true);

// Apply to all modules' drive motors
for (var module : getModules()) {
module.getDriveMotor().getConfigurator().apply(currentLimitsConfig);

@augmentcode augmentcode Bot Apr 10, 2026

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getConfigurator().apply(currentLimitsConfig) returns a status, but it’s ignored here; if CAN config application fails, the robot may silently keep the wrong current limit. That can make brownout/current-limit issues harder to diagnose in the pits.

Severity: low

Fix This in Augment

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}
}

public void setAutoDriveMotorSupplyCurrentLimit() {
setDriveMotorSupplyCurrentLimit(DrivetrainConstants.DRIVE_SUPPLY_CURRENT_LIMIT_AUTO);
}

public void setDefaultDriveMotorSupplyCurrentLimit() {
setDriveMotorSupplyCurrentLimit(DrivetrainConstants.DRIVE_SUPPLY_CURRENT_LIMIT);
}

/**
* Returns a command that applies the specified control request to this swerve drivetrain.
*
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