@ACat701 @TaylerUva Should we use supply or stator current limiting this year (or both)? I know that "supply current is the current drawn from the battery," but CTRE recommends using stator current first and then using supply later. Stator can also reduce battery consumption. We've seen some results with messing around with stator on Two Face, right?

@Alenguye582
The use-cases of supply and stator limits are kinda different. In my head (which could be totally wrong), stator limits are for slowing down mechanisms that are temporarily drawing too much current while supply limits are for stopping mechanisms when they're breaking themselves. I could be totally wrong though; @TaylerUva back me up
We used a supply current limit on our 2023 elevator to stop movement when it tried to do a pull up on the charge station or the poles. We've used stator current limits everywhere else. I think we should stick to stator current limits on everything, and add supply current limits to mechanisms that can do "pull ups"- thoughts?

stator limits are for slowing down mechanisms that are temporarily drawing too much current while supply limits are for stopping mechanisms when they're breaking themselves. I think we should stick to stator current limits on everything, and add supply current limits to mechanisms that can do "pull ups"- thoughts?

Okay, that makes sense. Because I swear we were using all supply for 2024 and I wanted to question if we should use stator for anything. So to make sure I got this right: Supply for elevator, climber, and algae pivot? And stator for everything else?

• You want stator on everything, no matter what. You can have supply and stator on a motor.
• No climber current limiting for now, since it kinda needs to hold up the entire weight of the robot 😬
• The list of subsystems to add supply to (apart from the climber) looks good!