Current Limiting Test

The current limiting test runs your robot at different speeds and logs how much current the drivetrain pulls. This lets you set a safe current limit to prevent voltage dips that can cause erratic behavior during autonomous.

Why It Matters

Swerve and mecanum drives can pull massive current during aggressive acceleration, causing battery voltage to drop. Voltage dips cause motors to behave inconsistently and throw off localization.

How It Works

This is an automatic tuner. The robot runs through speed increments and logs the draw at each step. You then use that data to decide on a safe limit.

How to Run

Battery: Ensure you have a fully charged battery.
Space: Place your robot on a flat, open area.
Select: Open CurrentLimitingTest on your Driver Station.
Run: Press Play — the robot will run automatically.
Analyze: Check the telemetry output or log file.

Reading the Results

Look for where the current spikes sharply. Set your limit just below that spike:

Speed	Current Draw	Notes
25%	~4A	Safe range
50%	~8A	Safe range
75%	~14A	Watch here
100%	~22A	Often too high

Your actual values will vary based on your motors and battery health.

Applying the Limit

Once you have your target value, set it in your drivetrain config:

Java


// Set limit in Amps
motor.setCurrentLimit(CurrentUnit.AMPS, 15);

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Important: Running this test on a low battery will show artificially low readings. Always use a fresh battery for tuning.

Compatibility

✅ Mecanum Drive
✅ Swerve Drive