Set inverted for indexer motors and fixed current limit

flamingchickens1540 · Dec 11, 2023 · 395526e · 395526e
1 parent 04328fd
commit 395526e
Showing 1 changed file with 5 additions and 7 deletions.
diff --git a/src/main/java/org/team1540/bunnybotTank2023/io/indexer/IndexerIOReal.java b/src/main/java/org/team1540/bunnybotTank2023/io/indexer/IndexerIOReal.java
@@ -13,17 +13,15 @@ public IndexerIOReal() {
         topMotor2.setIdleMode(CANSparkMax.IdleMode.kBrake);
         bottomMotor.setIdleMode(CANSparkMax.IdleMode.kBrake);
 
-        topMotor1.setSecondaryCurrentLimit(30);
-        topMotor2.setSecondaryCurrentLimit(30);
-        bottomMotor.setSecondaryCurrentLimit(30);
+        topMotor1.setSmartCurrentLimit(30);
+        topMotor2.setSmartCurrentLimit(30);
+        bottomMotor.setSmartCurrentLimit(30);
 
         topMotor2.follow(topMotor1);
 
         topMotor1.setInverted(false);
-        topMotor2.setInverted(false);
-        bottomMotor.setInverted(false);
-
-        // which of these motors needs to be inverted?
+        topMotor2.setInverted(true);
+        bottomMotor.setInverted(true);
     }
 
     @Override