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Set inverted for indexer motors and fixed current limit
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PichuIsBest committed Dec 11, 2023
1 parent 04328fd commit 395526e
Showing 1 changed file with 5 additions and 7 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -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
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