From 15403bdd3d7113fbd53446598e31f14e6073c21a Mon Sep 17 00:00:00 2001
From: taimorioka <thetaimorioka@gmail.com>
Date: Tue, 14 Jan 2025 18:34:24 -0800
Subject: [PATCH] fixed issues

---
 ...otlin-compiler-18277150595480624353.salive |  0
 .../kotlin/com/frcteam3636/frc2025/Robot.kt   | 22 -------------------
 .../frc2025/subsystems/drivetrain/Module.kt   |  2 ++
 3 files changed, 2 insertions(+), 22 deletions(-)
 delete mode 100644 .kotlin/sessions/kotlin-compiler-18277150595480624353.salive

diff --git a/.kotlin/sessions/kotlin-compiler-18277150595480624353.salive b/.kotlin/sessions/kotlin-compiler-18277150595480624353.salive
deleted file mode 100644
index e69de29..0000000
diff --git a/src/main/kotlin/com/frcteam3636/frc2025/Robot.kt b/src/main/kotlin/com/frcteam3636/frc2025/Robot.kt
index 95be164..175e1f0 100644
--- a/src/main/kotlin/com/frcteam3636/frc2025/Robot.kt
+++ b/src/main/kotlin/com/frcteam3636/frc2025/Robot.kt
@@ -2,10 +2,6 @@ package com.frcteam3636.frc2025
 
 import com.ctre.phoenix6.StatusSignal
 import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain
-import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.BUMPER_LENGTH
-import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.BUMPER_WIDTH
-import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.TRACK_WIDTH
-import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.WHEEL_BASE
 import com.frcteam3636.frc2025.utils.Elastic
 import com.frcteam3636.frc2025.utils.ElasticNotification
 import com.frcteam3636.frc2025.utils.NotificationLevel
@@ -16,10 +12,6 @@ import com.frcteam3636.version.GIT_SHA
 import edu.wpi.first.hal.FRCNetComm.tInstances
 import edu.wpi.first.hal.FRCNetComm.tResourceType
 import edu.wpi.first.hal.HAL
-import edu.wpi.first.math.geometry.Pose2d
-import edu.wpi.first.math.geometry.Rotation2d
-import edu.wpi.first.math.geometry.Translation2d
-import edu.wpi.first.math.system.plant.DCMotor
 import edu.wpi.first.wpilibj.*
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard
 import edu.wpi.first.wpilibj.util.WPILibVersion
@@ -29,11 +21,6 @@ import edu.wpi.first.wpilibj2.command.Commands
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import edu.wpi.first.wpilibj2.command.button.JoystickButton
 import org.ironmaple.simulation.SimulatedArena
-import org.ironmaple.simulation.drivesims.COTS
-import org.ironmaple.simulation.drivesims.SwerveDriveSimulation
-import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
-import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnField
-import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoral
 import org.littletonrobotics.junction.LogFileUtil
 import org.littletonrobotics.junction.LoggedRobot
 import org.littletonrobotics.junction.Logger
@@ -186,15 +173,6 @@ object Robot : LoggedRobot() {
 
     }
 
-    fun displaySimFieldToAdvantageScope() {
-        if (Robot.model !== Robot.Model.SIMULATION) return
-
-        Logger.recordOutput("FieldSimulation/RobotPosition", Drivetrain.estimatedPose)
-        Logger.recordOutput(
-            "FieldSimulation/Notes", *SimulatedArena.getInstance().getGamePiecesArrayByType("Note")
-        )
-    }
-
     override fun robotPeriodic() {
         Dashboard.update()
         Diagnostics.collect(statusSignals).reportAlerts()
diff --git a/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Module.kt b/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Module.kt
index 5a545e4..c541a14 100644
--- a/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Module.kt
+++ b/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Module.kt
@@ -177,9 +177,11 @@ class DrivingSparkMAX(val id: REVMotorControllerId) : DrivingMotor {
 class SimSwerveModule(val sim: SwerveModuleSimulation) : SwerveModule {
 
     private val driveMotor: SimulatedMotorController.GenericMotorController = sim.useGenericMotorControllerForDrive()
+        .withCurrentLimit(DRIVING_CURRENT_LIMIT)
 
     // reference to the simulated turn motor
     private val turnMotor: SimulatedMotorController.GenericMotorController = sim.useGenericControllerForSteer()
+        .withCurrentLimit(TURNING_CURRENT_LIMIT)
 
     // TODO: figure out what the moment of inertia actually is and if it even matters
     private val drivingFeedforward = SimpleMotorFeedforward(DRIVING_FF_GAINS_TALON)