Revert drive mtr current increase and decreased smart outtake time.

FRC830 · Mar 20, 2024 · 8b1529c · 8b1529c
1 parent 58468c6
commit 8b1529c
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/cpp/subsystems/SmartIntake.cpp b/src/main/cpp/subsystems/SmartIntake.cpp
@@ -211,7 +211,7 @@ void SmartIntake::HandleInput(RobotControlData& input){
         }
         case 3:
         {
-            if (m_timer.Get() > units::second_t(0.0425))
+            if (m_timer.Get() > units::second_t(0.035))
             {
                 m_SmartOutTakeFlag = false;
                 m_OutTakeState = 0;

diff --git a/src/main/include/SwerveConfig.h b/src/main/include/SwerveConfig.h
@@ -154,7 +154,7 @@ const double MAX_DRIVE_SPEED_FPS = 18.0;
 const double MAX_ANGULAR_VELOCITY_DEGPS = 540.0;
 const double CONTROLLER_DEADZONE = 0.1;
 const int TURN_MOTOR_CURRENT_LIMIT = 20;
-const int DRIVE_MOTOR_CURRENT_LIMIT = 55;
+const int DRIVE_MOTOR_CURRENT_LIMIT = 20;
 const double SWERVE_VOLTAGE_COMPENSATION = 10.5;
 const bool IS_DRIVE_IN_COAST = false;
 const bool IS_ROBOT_ORIENTED_DRIVE = false;