add new current limits

src/main/java/frc/robot/drivetrain/ModuleIOTalonFX.java

@@ -27,12 +27,18 @@
 
 public class ModuleIOTalonFX implements ModuleIO {
 
-  private final double kDrivekP = 0.4;
-  private final double kDrivekS;
+  private final double kDrivekP = 0.15;
+  private final double kDrivekS = 0.13;
   private final double kDrivekV = 0.72;
   private final double kSteerkP = 100.0;
   private final double kSteerkD = 0.2;
-  private final double kSlipCurrent = Constants.kIsSim ? 400.0 : 58.0;
+  private static final double kSlipCurrent;
+
+  static {
+    if (Constants.kIsSim) kSlipCurrent = 400.0;
+    else if (Constants.kIsViper) kSlipCurrent = 58.0;
+    else kSlipCurrent = 64.0;
+  }
 
   private final TalonFX m_driveMotor, m_steerMotor;
   private final CANcoder m_azimuthEncoder;
@@ -62,28 +68,24 @@ public ModuleIOTalonFX(int index) {
         m_steerMotor = new TalonFX(3, Constants.kDrivetrainCanBus);
         m_azimuthEncoder = new CANcoder(12, Constants.kDrivetrainCanBus);
         m_absoluteEncoderMagnetOffset = Constants.kIsViper ? 0.37353515625 : 0.066162109375;
-        kDrivekS = 0.133;
         break;
       case 1: // FR
         m_driveMotor = new TalonFX(6, Constants.kDrivetrainCanBus);
         m_steerMotor = new TalonFX(5, Constants.kDrivetrainCanBus);
         m_azimuthEncoder = new CANcoder(13, Constants.kDrivetrainCanBus);
         m_absoluteEncoderMagnetOffset = Constants.kIsViper ? -0.090576171875 : -0.439697265625;
-        kDrivekS = 0.129;
         break;
       case 2: // BL
         m_driveMotor = new TalonFX(2, Constants.kDrivetrainCanBus);
         m_steerMotor = new TalonFX(1, Constants.kDrivetrainCanBus);
         m_azimuthEncoder = new CANcoder(11, Constants.kDrivetrainCanBus);
         m_absoluteEncoderMagnetOffset = Constants.kIsViper ? 0.275634765625 : 0.08740234375;
-        kDrivekS = 0.057;
         break;
       case 3: // BR
         m_driveMotor = new TalonFX(7, Constants.kDrivetrainCanBus);
         m_steerMotor = new TalonFX(8, Constants.kDrivetrainCanBus);
         m_azimuthEncoder = new CANcoder(14, Constants.kDrivetrainCanBus);
         m_absoluteEncoderMagnetOffset = Constants.kIsViper ? 0.314208984375 : -0.436767578125;
-        kDrivekS = 0.088;
         break;
       default:
         throw new RuntimeException("Invalid module index");