add auto-only drive current limit

[amzoeee]

No description provided.

[augmentcode]

🤖 Augment PR Summary

Summary: Adds an autonomous-only drive-motor supply current limit to balance drivetrain performance vs. brownout risk.

Changes:

• Reduced the default drive supply current limit and introduced a separate higher limit for autonomous
• Applies the autonomous limit on autonomousInit() and restores the default on autonomousExit()
• Implements a drivetrain helper to apply CurrentLimitsConfigs to all swerve module drive motors

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[augmentcode]

Review completed. 2 suggestions posted.

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[augmentcode]

autonomousExit() is the only place that restores the default supply current limit; if that hook doesn’t run for any reason (unexpected restart / mode transition behavior), the higher auto limit could persist into teleop. Is there a reason you’re not also ensuring the default limit is restored on other transitions?

Severity: medium

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[augmentcode]

getConfigurator().apply(currentLimitsConfig) returns a status, but it’s ignored here; if CAN config application fails, the robot may silently keep the wrong current limit. That can make brownout/current-limit issues harder to diagnose in the pits.

Severity: low

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