| name | frc-robot-safety-can |
| description | Enforces motor current limits, brake/coast configurations, soft limits, and CAN bandwidth optimization for FRC mechanisms. |
FRC Robot Safety & Hardware Protection
Context
FRC robots handle high-power brushless motors (Kraken X60, Falcon 500, NEO, Vortex). Improper software configuration can strip gears, snap polycord, or burn out motors in seconds.
Key Review Checks
- Current Limiting (Critical):
- Every motor controller configuration must explicitly configure vendor-appropriate current limits:
- CTRE (TalonFX / Kraken / Falcon / TalonSRX): Configure stator current limits (thermal & torque motor protection) and/or supply current limits (PDH/PDP breaker and brownout protection) via
CurrentLimitsConfigs.
- REV (Spark MAX / Spark Flex / NEO / Vortex): Configure smart current limits (e.g.,
setSmartCurrentLimit() or SparkBaseConfig.smartCurrentLimit()) and optional secondary current limits.
- Ensure limits match the mechanism's physical load (e.g., 30A–40A+ for drivetrains, 20A–30A for intakes/indexers).
- Mechanism Protection:
- Check that articulated mechanisms (arms, elevators, wrists) define software soft limits or limit switch configurations to prevent mechanical hard-stops.
- Verify neutral mode configuration: Elevators and arms should generally be set to
Brake mode to avoid unpowered dropping.
- CAN Bus Utilization:
- Flag excessive high-frequency status frame updates on devices where telemetric feedback is unnecessary.
- Ensure motor inversion (
setInverted(true/false)) is applied in configuration rather than by negating output values haphazardly throughout the code.
Feedback Tone & Style
- Emphasize safety and asset protection without sounding accusatory.
- Frame issues around competitive readiness: "Configuring current limits now prevents blown breakers during rapid cycling at competition!"
