add stator current limit, update batt mon

Author: mwitcpalek

src/main/java/frc/robot/constants/BattMonConstants.java

@@ -11,18 +11,18 @@ public class BattMonConstants {
   public static final double kBattVolt1DC = 0.9;
   public static final double kBattVolt2 = 2;
   public static final double kBattVolt2DC = 0.1;
-  public static final double kBattVoltSlope = 1;
+  public static final double kBattVoltSlope = 10.01;
   // (kBattVolt1 - kBattVolt2) / (kBattVolt1DC - kBattVolt2DC);
-  public static final double kBattVoltOffset = 0; // kBattVolt1 - kBattVoltSlope * kBattVolt1DC;
+  public static final double kBattVoltOffset = 4.035; // kBattVolt1 - kBattVoltSlope * kBattVolt1DC;
 
   // Battery Current Conversion
   public static final double kBattCurrent1 = 50;
   public static final double kBattCurrent1DC = 0.9;
   public static final double kBattCurrent2 = 1;
   public static final double kBattCurrent2DC = 0.1;
-  public static final double kBattCurrentSlope = 1;
+  public static final double kBattCurrentSlope = 1088.3;
   // (kBattCurrent1 - kBattCurrent2) / (kBattCurrent1DC - kBattCurrent2DC);
-  public static final double kBattCurrentOffset = 0;
+  public static final double kBattCurrentOffset = -543.7;
   // kBattCurrent1 - kBattCurrentSlope * kBattCurrent1DC;
 
   // PDP Voltage Conversion

src/main/java/frc/robot/constants/RobotConstants.java

@@ -437,8 +437,8 @@ public static TalonFXSConfiguration getFXSConfig() {
 
       CurrentLimitsConfigs current =
           new CurrentLimitsConfigs()
-              .withStatorCurrentLimit(0)
-              .withStatorCurrentLimitEnable(false)
+              .withStatorCurrentLimit(100)
+              .withStatorCurrentLimitEnable(true)
               .withSupplyCurrentLimit(20)
               .withSupplyCurrentLowerLimit(5)
               .withSupplyCurrentLowerTime(2)

src/main/java/frc/robot/subsystems/battMon/BattMonHardware.java

@@ -33,8 +33,11 @@ public void updateInputs(BattMonIOInputs inputs) {
     // inputs.pdpVoltage =
     //     pdpCycle.getOutput() * BattMonConstants.kPdpVoltSlope + BattMonConstants.kPdpVoltOffset;
     inputs.breakerTemp =
-        ((tempCycle.getHighTimeNanoseconds() / (tempCounter.getPeriod() / 1000000000))
+        ((tempCycle.getHighTimeNanoseconds() / (tempCounter.getPeriod() * 1_000_000_000))
                 - BattMonConstants.kBreakerTemp1)
             / BattMonConstants.kBreakerTemp2;
+    // (((tempCycle.getHighTimeNanoseconds() / 1_000_000_000) / tempCounter.getPeriod())
+    //         - BattMonConstants.kBreakerTemp1)
+    //     / BattMonConstants.kBreakerTemp2;
   }
 }

src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java

@@ -56,7 +56,7 @@ public class BiscuitIOFXS implements BiscuitIO, Checkable {
   public BiscuitIOFXS() {
     // Logger initialization with class name
     logger = LoggerFactory.getLogger(this.getClass());
-    // Moter initialization with ID from constants
+    // Motor initialization with ID from constants
     talon = new TalonFXS(BiscuitConstants.talonID);
     // Set the starting encoder position
     sensorInitial = talon.getPosition().getValue();
@@ -85,7 +85,6 @@ public void setIsRemovingAlgae(boolean isRemoving) {
   public void setPosition(Angle position, boolean hasAlgae) {
     if (hasAlgae != lastHadAlgae) {
       if (hasAlgae) {
-        // why is this if statement here???
         if (isRemovingAlgae) {
           configurator.apply(RobotConstants.algaeRemovalMotionConfig);
         } else {