currentAmps safelimit & fixing spelling

Author: RyanNg19

src/main/java/frc/robot/subsystems/claw/claw.java

@@ -16,6 +16,10 @@ public void periodic() {
             io.updateInputs(inputs);
             //logs the information to AdvantageKit
             Logger.processInputs(“Claw”, inputs);
+            //stops claw if current amps is too high to ensure the claw doesn't open too much
+            if (inputs.currentAmps > ClawConstants.MAX_SAFE_CURRENT_AMPS) {
+                io.stop();
+            }
         }
         //command to open the claw, runs with opening voltage until interrupted
         public Command openClaw() {

src/main/java/frc/robot/subsystems/claw/clawConstants.java

@@ -7,14 +7,17 @@ public class ClawConstants{
     public static final int Claw_Motor_ID = 1;
 
     //arbitrary number
-    public static final double ClawGearing = 4;
+    public static final double ClawGearing = 4.0;
 
     //arbitrary number
-    public static final double MomentofInertia = 6;
+    public static final double MomentofInertia = 6.0;
 
     //voltage to open the claw, negative to run the motor in reverse
-    public static final double Claw_Open_Voltage = -6;
+    public static final double Claw_Open_Voltage = -6.0;
 
     //voltage to close claw
-    public static final double Claw_Close_Voltage = 6;
+    public static final double Claw_Close_Voltage = 6.0;
+
+    //max safe amps to stop opening voltage
+    public static final double Max_Safe_Amps = 50.0;
 }

src/main/java/frc/robot/subsystems/claw/clawIO.java

@@ -7,11 +7,11 @@ public interface ClawIO {
     @AutoLog
     public class ClawIOInputs {
         //voltage being applied to the motor, set to zero as a starting value
-        public double appliedVoltage = 0.0
+        public double appliedVoltage = 0.0;
         //monitors draw of the motor for stalling, set to zero as a starting value
-        public double currentAmps = 0.0
+        public double currentAmps = 0.0;
         //monitors temp of motor for overheating, set to zero as a starting value
-        public double tempCelsius = 0.0
+        public double tempCelsius = 0.0;
     }
     //empty methods that will be overriden in the other IO files
     public default void updateInputs(ClawIOInputs inputs) {}