add current limits to mechanism motors

Author: rcahoon

src/main/java/com/team766/robot/burro_arm/mechanisms/Arm.java

@@ -3,9 +3,9 @@
 import com.team766.config.ConfigFileReader;
 import com.team766.framework.Mechanism;
 import com.team766.hal.EncoderReader;
-import com.team766.hal.MotorController;
 import com.team766.hal.MotorController.ControlMode;
 import com.team766.hal.RobotProvider;
+import com.team766.hal.wpilib.CANSparkMaxMotorController;
 import com.team766.library.RateLimiter;
 import com.team766.library.ValueProvider;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -16,7 +16,7 @@ public class Arm extends Mechanism {
     private static final double MOTOR_ROTATIONS_TO_ARM_ANGLE =
             ABSOLUTE_ENCODER_TO_ARM_ANGLE * (1. / (5. * 5. * 5.) /*planetary gearbox*/);
 
-    private final MotorController motor;
+    private final CANSparkMaxMotorController motor;
     private final EncoderReader absoluteEncoder;
 
     private final ValueProvider<Double> absoluteEncoderOffset;
@@ -25,7 +25,8 @@ public class Arm extends Mechanism {
     private boolean initialized = false;
 
     public Arm() {
-        motor = RobotProvider.instance.getMotor("arm.Motor");
+        motor = (CANSparkMaxMotorController)RobotProvider.instance.getMotor("arm.Motor");
+        motor.setSmartCurrentLimit(5, 80, 200);
         absoluteEncoder = RobotProvider.instance.getEncoder("arm.AbsoluteEncoder");
         absoluteEncoderOffset = ConfigFileReader.instance.getDouble("arm.AbsoluteEncoderOffset");
     }

src/main/java/com/team766/robot/burro_elevator/mechanisms/Elevator.java

@@ -1,8 +1,9 @@
 package com.team766.robot.burro_elevator.mechanisms;
 
 import com.team766.framework.Mechanism;
-import com.team766.hal.MotorController;
+import com.team766.hal.MotorController.ControlMode;
 import com.team766.hal.RobotProvider;
+import com.team766.hal.wpilib.CANSparkMaxMotorController;
 import com.team766.library.RateLimiter;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -12,11 +13,12 @@ public class Elevator extends Mechanism {
                     * (18. /*teeth per rotation of sprocket*/)
                     * (1. / (3. * 4. * 4.) /*planetary gearbox*/);
 
-    private final MotorController motor;
+    private final CANSparkMaxMotorController motor;
     private final RateLimiter dashboardRateLimiter = new RateLimiter(0.1);
 
     public Elevator() {
-        motor = RobotProvider.instance.getMotor("elevator.Motor");
+        motor = (CANSparkMaxMotorController)RobotProvider.instance.getMotor("elevator.Motor");
+        motor.setSmartCurrentLimit(10, 80, 200);
     }
 
     public void setPower(final double power) {
@@ -27,9 +29,7 @@ public void setPower(final double power) {
     public void setPosition(final double position) {
         checkContextOwnership();
 
-        motor.set(
-                MotorController.ControlMode.Position,
-                position / MOTOR_ROTATIONS_TO_ELEVATOR_POSITION);
+        motor.set(ControlMode.Position, position / MOTOR_ROTATIONS_TO_ELEVATOR_POSITION);
     }
 
     public double getPosition() {