From 650405edab876866fe75143f1cfd2d5df95d9aa5 Mon Sep 17 00:00:00 2001
From: Hayden Heroux <haydenheroux@gmail.com>
Date: Thu, 25 Apr 2024 16:16:56 -0400
Subject: [PATCH] refactor(config): Remove old motor current limits class.

---
 src/main/java/frc/lib/MotorCurrentLimits.java | 56 -------------------
 .../frc/robot/swerve/DriveMotorIOTalonFX.java |  5 +-
 .../robot/swerve/SteerMotorIOTalonFXPIDF.java |  5 +-
 3 files changed, 4 insertions(+), 62 deletions(-)
 delete mode 100644 src/main/java/frc/lib/MotorCurrentLimits.java

diff --git a/src/main/java/frc/lib/MotorCurrentLimits.java b/src/main/java/frc/lib/MotorCurrentLimits.java
deleted file mode 100644
index 9a2056d..0000000
--- a/src/main/java/frc/lib/MotorCurrentLimits.java
+++ /dev/null
@@ -1,56 +0,0 @@
-package frc.lib;
-
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import java.util.Objects;
-
-/** Constants for motor current limiting. */
-public record MotorCurrentLimits(
-    double motorAmps, double breakerAmps, double breakerPeakAmps, double peakDurationSeconds) {
-
-  /**
-   * Creates motor current limiting constants.
-   *
-   * @param motorAmps the amount of current allowed in the motor.
-   * @param breakerAmps the amount of current allowed at the breaker for an extended duration.
-   * @param breakerPeakAmps the peak amount of supply current allowed for a short duration.
-   * @param peakDurationSeconds the duration of the current peak.
-   */
-  public MotorCurrentLimits {
-    Objects.requireNonNull(motorAmps);
-    Objects.requireNonNull(breakerAmps);
-    Objects.requireNonNull(breakerPeakAmps);
-    Objects.requireNonNull(peakDurationSeconds);
-  }
-
-  /**
-   * Creates motor current limiting constants.
-   *
-   * @param breakerAmps the amount of current allowed at the breaker for an extended duration.
-   */
-  public MotorCurrentLimits(double breakerAmps) {
-    this(0.0, breakerAmps, 0.0, 0.0);
-  }
-
-  /**
-   * Creates a Phoenix current limiting configuration using the current limiting constants.
-   *
-   * @return a Phoenix current limiting configuration.
-   */
-  public CurrentLimitsConfigs asCurrentLimitsConfigs() {
-    CurrentLimitsConfigs config = new CurrentLimitsConfigs();
-
-    if (motorAmps > 0.0) {
-      config.StatorCurrentLimit = motorAmps;
-      config.StatorCurrentLimitEnable = true;
-    }
-
-    if (breakerAmps > 0.0 && breakerPeakAmps >= 0.0 && peakDurationSeconds >= 0.0) {
-      config.SupplyCurrentLimit = breakerAmps;
-      config.SupplyCurrentThreshold = breakerPeakAmps;
-      config.SupplyTimeThreshold = peakDurationSeconds;
-      config.SupplyCurrentLimitEnable = true;
-    }
-
-    return config;
-  }
-}
diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java
index a48f30e..3b45eb7 100644
--- a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java
+++ b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java
@@ -7,7 +7,6 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import frc.lib.CAN;
-import frc.lib.MotorCurrentLimits;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
 
 /** TalonFX drive motor. */
@@ -35,8 +34,8 @@ public DriveMotorIOTalonFX(CAN driveMotorCAN) {
 
     talonFXBaseConfig.Feedback.SensorToMechanismRatio = MK4iConstants.DRIVE_GEARING;
 
-    talonFXBaseConfig.CurrentLimits =
-        new MotorCurrentLimits(80.0, 30.0, 60.0, 0.1).asCurrentLimitsConfigs();
+    // talonFXBaseConfig.CurrentLimits =
+    //     new MotorCurrentLimits(80.0, 30.0, 60.0, 0.1).asCurrentLimitsConfigs();
 
     positionRotations = talonFX.getPosition();
     velocityRotationsPerSecond = talonFX.getVelocity();
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
index eaca1e6..98fe0cb 100644
--- a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
+++ b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
@@ -6,7 +6,6 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import frc.lib.CAN;
-import frc.lib.MotorCurrentLimits;
 import frc.lib.config.Configurator;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
 
@@ -42,8 +41,8 @@ public void configure() {
 
     talonFXPIDFConfig.ClosedLoopGeneral.ContinuousWrap = true;
 
-    talonFXPIDFConfig.CurrentLimits =
-        new MotorCurrentLimits(35.0, 15.0, 25.0, 0.1).asCurrentLimitsConfigs();
+    // talonFXPIDFConfig.CurrentLimits =
+    //     new MotorCurrentLimits(35.0, 15.0, 25.0, 0.1).asCurrentLimitsConfigs();
 
     talonFXPIDFConfig.Feedback.SensorToMechanismRatio = MK4iConstants.STEER_GEARING;