Package frc.team4373.swerve

Class SwerveConfig.CurrentLimitConfig

java.lang.Object

frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

Enclosing class:

SwerveConfig

public static final class SwerveConfig.CurrentLimitConfig
extends java.lang.Object

A configuration object representing the current limiting to perform on the drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
int	driveMotorContinuousAmperage	The amperage that the current draw is limited to (for the drive motors).
boolean	driveMotorLimitingEnabled	Whether or not current limiting is enabled for the drive motors.
int	driveMotorPeakAmperage	The point beyond which current will be limited (for the drive motors).
int	driveMotorPeakDuration	The duration that the current draw is allowed to be over the peak amperage (drive).
static SwerveConfig.CurrentLimitConfig	NONE	A current limit configuration for no current limiting.
int	rotatorMotorContinuousAmperage	The amperage that the current draw is limited to (for the rotator motors).
boolean	rotatorMotorLimitingEnabled	Whether or not current limiting is enabled for the rotator motors.
int	rotatorMotorPeakAmperage	The point beyond which current will be limited (for the rotator motors).
int	rotatorMotorPeakDuration	The duration that the current draw is allowed to be over the peak amperage (rotator).

Constructor Summary

Constructors

Constructor	Description
CurrentLimitConfig(int amperageLimit, int peakDuration)	Creates a CurrentLimitConfig object with the specified limit and exceedance duration.
CurrentLimitConfig(int rotatorMotorPeakAmperage, int rotatorMotorPeakDuration, int rotatorMotorContinuousAmperage, boolean rotatorMotorLimitingEnabled, int driveMotorPeakAmperage, int driveMotorPeakDuration, int driveMotorContinuousAmperage, boolean driveMotorLimitingEnabled)	Creates a CurrentLimitConfig object with the specified parameters.
CurrentLimitConfig(int driveMotorAmperageLimit, int driveMotorPeakDuration, int rotatorMotorAmperageLimit, int rotatorMotorPeakDuration)	Creates a CurrentLimitConfig object with the specified limit and exceedance duration.

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

rotatorMotorPeakAmperage

public final int rotatorMotorPeakAmperage

The point beyond which current will be limited (for the rotator motors).

rotatorMotorPeakDuration

public final int rotatorMotorPeakDuration

The duration that the current draw is allowed to be over the peak amperage (rotator).

rotatorMotorContinuousAmperage

public final int rotatorMotorContinuousAmperage

The amperage that the current draw is limited to (for the rotator motors).

rotatorMotorLimitingEnabled

public final boolean rotatorMotorLimitingEnabled

Whether or not current limiting is enabled for the rotator motors. If false, no current limiting configuration is set to the Talons.

driveMotorPeakAmperage

public final int driveMotorPeakAmperage

The point beyond which current will be limited (for the drive motors).

driveMotorPeakDuration

public final int driveMotorPeakDuration

The duration that the current draw is allowed to be over the peak amperage (drive).

driveMotorContinuousAmperage

public final int driveMotorContinuousAmperage

The amperage that the current draw is limited to (for the drive motors).

driveMotorLimitingEnabled

public final boolean driveMotorLimitingEnabled

Whether or not current limiting is enabled for the drive motors. If false, no current limiting configuration is set to the Talons.

NONE

public static final SwerveConfig.CurrentLimitConfig NONE

A current limit configuration for no current limiting.

Constructor Detail

CurrentLimitConfig

public CurrentLimitConfig(int rotatorMotorPeakAmperage,
                          int rotatorMotorPeakDuration,
                          int rotatorMotorContinuousAmperage,
                          boolean rotatorMotorLimitingEnabled,
                          int driveMotorPeakAmperage,
                          int driveMotorPeakDuration,
                          int driveMotorContinuousAmperage,
                          boolean driveMotorLimitingEnabled)

Creates a CurrentLimitConfig object with the specified parameters.

Parameters:

rotatorMotorPeakAmperage - the point beyond which current will be limited (rotate).

rotatorMotorPeakDuration - the duration beyond peak amperage before limiting (R).

rotatorMotorContinuousAmperage - the amperage that current is limited to (rotator).

rotatorMotorLimitingEnabled - whether current limiting is enabled (rotator motors).

driveMotorPeakAmperage - the point beyond which current will be limited (drive).

driveMotorPeakDuration - the duration beyond peak amperage before limiting (drive).

driveMotorContinuousAmperage - the amperage that current is limited to (drive).

driveMotorLimitingEnabled - whether current limiting is enabled (rotator motors).

CurrentLimitConfig

public CurrentLimitConfig(int amperageLimit,
                          int peakDuration)

Creates a CurrentLimitConfig object with the specified limit and exceedance duration. The limit and duration are used for both the drive and rotator motors. Once the current draw has been over the limit for the specified duration, it is capped at the limit.

Parameters:

amperageLimit - the amperage limit for both the drive and rotator motors.

peakDuration - the time that excessive current draw is allowed before limiting.

CurrentLimitConfig

public CurrentLimitConfig(int driveMotorAmperageLimit,
                          int driveMotorPeakDuration,
                          int rotatorMotorAmperageLimit,
                          int rotatorMotorPeakDuration)

Creates a CurrentLimitConfig object with the specified limit and exceedance duration. Different values are given for the drive and rotator motors. Once the current draw has been over the limit for the specified duration, it is capped at the limit.

Parameters:

driveMotorAmperageLimit - the amperage limit for the drive motors.

driveMotorPeakDuration - the time that excessive current draw is allowed (drive).

rotatorMotorAmperageLimit - the amperage limit for the rotator motors.

rotatorMotorPeakDuration - the time that excessive current draw is allowed (R).