Smart current limit for drive motors is currently being calculated from this equation:
currentLimitAmps = neoFreeCurrentAmps + 2*motorTorqueLimitNewtonMeters / neoStallTorqueNewtonMeters * (neoStallCurrentAmps-neoFreeCurrentAmps);
The issue with this equation is that it assumes that the drive motor is a Neo which was earlier not a problem but now it is as we are not always using NEOs for drive but also NEO Vortex. I would suggest adding a MotorConfig to the SwerveConfig for both turn and drive to be able to more deterministically get values for the right motor type.
Smart current limit for drive motors is currently being calculated from this equation:
currentLimitAmps = neoFreeCurrentAmps + 2*motorTorqueLimitNewtonMeters / neoStallTorqueNewtonMeters * (neoStallCurrentAmps-neoFreeCurrentAmps);The issue with this equation is that it assumes that the drive motor is a Neo which was earlier not a problem but now it is as we are not always using NEOs for drive but also NEO Vortex. I would suggest adding a MotorConfig to the SwerveConfig for both turn and drive to be able to more deterministically get values for the right motor type.