assorted pre-2026 cleanup, tweaks #36
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darkpotatoo
commented
Dec 22, 2025
darkpotatoo
commented
- 40amp current limits on drive motors (both stator and supply current)
- remove suppliers from the pose pathing methods
- rename drive subsystem to match standard
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withinfocus
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Dec 22, 2025
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withinfocus
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withinfocus
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Few small areas of improvement. Do a Sonar review just to catch anything lingering.
| new TalonFXConfiguration() | ||
| .withCurrentLimits( | ||
| new CurrentLimitsConfigs() | ||
| .withSupplyCurrentLimit(40) |
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💭 Should this be a constant?
| Queue<Double> queue = new ArrayBlockingQueue<>(20); | ||
| signalsLock.lock(); | ||
| SwerveDriveSubsystem.ODOMETRY_LOCK.lock(); | ||
| SwerveDriveReal.ODOMETRY_LOCK.lock(); |
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🎨 Per the Sonar scan all these references should now use the IO base class reference.
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🎨 Take a look at the Sonar results -- just three things that can also be cleaned up in this class.
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