Removed voltage compensations due to problems with browning out

awtybots · Feb 26, 2024 · bc1880c · bc1880c
1 parent 4f85612
commit bc1880c
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Showing 3 changed files with 3 additions and 15 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -110,8 +110,7 @@ public ModuleIOSparkMax(int index) {
     turnSparkMax.setInverted(isTurnMotorInverted);
     driveSparkMax.setSmartCurrentLimit(30);
     turnSparkMax.setSmartCurrentLimit(20);
-    driveSparkMax.enableVoltageCompensation(12.0);
-    turnSparkMax.enableVoltageCompensation(12.0);
+
 
     driveEncoder.setPosition(0.0);
     driveEncoder.setMeasurementPeriod(10);

diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java
@@ -53,10 +53,7 @@ public FlywheelIOSparkMax() {
     topShooterMotor.setSmartCurrentLimit(30);
     bottomShooterMotor.setSmartCurrentLimit(30);
 
-    topShooterMotor.enableVoltageCompensation(12.0);
-    topShooterMotor.setSmartCurrentLimit(30);
-    bottomShooterMotor.enableVoltageCompensation(12.0);
-    bottomShooterMotor.setSmartCurrentLimit(30);
+
   }
 
   @Override

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java
@@ -73,15 +73,7 @@ public void setVoltage(double volts) {
 
   @Override
   public void setVelocity(double percentRun, double ffVolts) {
-    // intakePID.setReference(
-    //     (6 / 458.0) * Units.radiansPerSecondToRotationsPerMinute(velocityRadPerSec) * GEAR_RATIO,
-    //     ControlType.kPercent,
-    //     0,
-    //     ffVolts,
-    //     ArbFFUnits.kVoltage);
-
-    intakeMotor.set(
-        percentRun);
+    intakeMotor.set(percentRun);
   }
 
   @Override