Current Limits and Ramps

Disclaimer: WIP and untested on 2026 hardware; tune values to your drivetrain and wiring. Custom code built on WPILib APIs (not official WPILib sample).

Purpose: Apply sane current limits and ramp rates to reduce brownouts and motor stress.

TalonFX examples (Java)

public class CurrentConfigs {
  public static void configDrive(TalonFX fx) {
    SupplyCurrentLimitConfiguration limit = new SupplyCurrentLimitConfiguration(true, 40, 60, 0.2);
    fx.configSupplyCurrentLimit(limit);
    fx.configOpenloopRamp(0.2);
  }

  public static void configIntake(TalonFX fx) {
    SupplyCurrentLimitConfiguration limit = new SupplyCurrentLimitConfiguration(true, 30, 40, 0.1);
    fx.configSupplyCurrentLimit(limit);
    fx.configOpenloopRamp(0.1);
  }

  public static void configShooter(TalonFX fx) {
    SupplyCurrentLimitConfiguration limit = new SupplyCurrentLimitConfiguration(true, 50, 60, 0.1);
    fx.configSupplyCurrentLimit(limit);
    fx.configOpenloopRamp(0.0); // shooter needs fast response
  }

  public static void configClimb(TalonFX fx) {
    SupplyCurrentLimitConfiguration limit = new SupplyCurrentLimitConfiguration(true, 60, 80, 0.1);
    fx.configSupplyCurrentLimit(limit);
    fx.configOpenloopRamp(0.1);
  }
}

SparkMAX examples (Java)

public class SparkConfigs {
  public static void configDrive(CANSparkMax spark) {
    spark.setSmartCurrentLimit(60);
    spark.setOpenLoopRampRate(0.2);
  }
  public static void configIntake(CANSparkMax spark) {
    spark.setSmartCurrentLimit(40);
    spark.setOpenLoopRampRate(0.1);
  }
  public static void configShooter(CANSparkMax spark) {
    spark.setSmartCurrentLimit(50);
    spark.setOpenLoopRampRate(0.0);
  }
  public static void configClimb(CANSparkMax spark) {
    spark.setSmartCurrentLimit(70);
    spark.setOpenLoopRampRate(0.1);
  }
}

How to test

• Check currents in telemetry during burn-in; adjust limits to avoid brownouts while keeping responsiveness.
• Verify ramps don’t slow critical actions (e.g., shooter spin-up should stay snappy).

Pitfalls

• Too aggressive limits can starve mechanisms; balance safety with performance.