Constant Field Values

Contents

• frc.lib.*
• frc.robot.*

frc.lib.*

frc.lib.util.FieldConstants.Community

Modifier and Type	Constant Field	Value
public static final double	innerX	0.0
public static final double	rightY	0.0

frc.lib.util.FieldConstants.Grids

Modifier and Type	Constant Field	Value
public static final int	nodeRowCount	9

frc.robot.*

frc.robot.BuildConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2024-03-23 16:36:53 EDT"
public static final long	BUILD_UNIX_TIME	1711226213222L
public static final int	DIRTY	129
public static final String	GIT_BRANCH	"UNKNOWN"
public static final String	GIT_DATE	"UNKNOWN"
public static final int	GIT_REVISION	-1
public static final String	GIT_SHA	"UNKNOWN"
public static final String	MAVEN_GROUP	""
public static final String	MAVEN_NAME	"FRC2023"
public static final String	VERSION	"unspecified"

frc.robot.Constants

Modifier and Type	Constant Field	Value
public static final int	DRIVER_ID	0
public static final int	OPERATOR_ID	1
public static final double	STICK_DEADBAND	0.1

frc.robot.Constants.Arm

Modifier and Type	Constant Field	Value
public static final int	ARM_ID	9
public static final int	ARM_ID_2	10
public static final int	ARM_PWM_DIO	9
public static final int	ENCODER_CHANNEL1	5
public static final int	ENCODER_CHANNEL2	6
public static final double	encoder1Offset	112.399
public static final int	FIFTH_POSITION	130
public static final int	FOURTH_POSITION	160
public static final int	HOME_POSITION	226
public static final int	SECOND_POSITION	200
public static final int	SOLENOID_FORWARD_CHANNEL	0
public static final int	SOLENOID_REVERSE_CHANNEL	1
public static final int	THIRD_POSITION	180

frc.robot.Constants.CameraConstants

Modifier and Type	Constant Field	Value
public static final String	CAMERA_NAME	"pv2"
public static final double	LARGEST_DISTANCE	0.1
public static final double	PITCH	0.0
public static final double	ROLL	-1.5707963267948966
public static final double	YAW	0.0

frc.robot.Constants.Elevator

Modifier and Type	Constant Field	Value
public static final int	ELEVATOR_MOTOR_ID	11
public static final double	ELEVATOR_STOP	0.0
public static final double	ENCODER_OFFSET	0.0
public static final double	MAX_ENCODER	2.3

frc.robot.Constants.Elevator.PID

Modifier and Type	Constant Field	Value
public static final double	ELEVATOR_KD	0.0
public static final double	ELEVATOR_KG_VOLTS	5.0
public static final double	ELEVATOR_KI	0.0
public static final double	ELEVATOR_KP	0.0
public static final double	ELEVATOR_KS_VOLTS	0.0
public static final double	ELEVATOR_KV_VOLT_SECONDS_PER_ROTATION	0.0

frc.robot.Constants.LEDConstants

Modifier and Type	Constant Field	Value
public static final int	LED_COUNT	60
public static final int	PWM_PORT	9

frc.robot.Constants.Swerve

Modifier and Type	Constant Field	Value
public static final int	ANGLE_CONTINOUS_CURRENT_LIMIT	25
public static final boolean	ANGLE_ENABLE_CURRENT_LIMIT	true
public static final double	ANGLE_GEAR_RATIO	12.8
public static final double	ANGLE_KD	0.0
public static final double	ANGLE_KF	0.0
public static final double	ANGLE_KI	0.0
public static final double	ANGLE_KP	100.0
public static final boolean	ANGLE_MOTOR_INVERT	false
public static final double	ANGLE_PEAK_CURRENT_DURATION	0.1
public static final int	ANGLE_PEAK_CURRENT_LIMIT	40
public static final double	CLOSED_LOOP_RAMP	0.4
public static final int	DRIVE_CONTINOUS_CURRENT_LIMIT	35
public static final boolean	DRIVE_ENABLE_CURRENT_LIMIT	true
public static final double	DRIVE_GEAR_RATIO	8.14
public static final double	DRIVE_KA	0.27
public static final double	DRIVE_KD	0.0
public static final double	DRIVE_KF	0.0
public static final double	DRIVE_KI	0.0
public static final double	DRIVE_KP	0.12
public static final double	DRIVE_KS	0.667
public static final double	DRIVE_KV	2.44
public static final boolean	DRIVE_MOTOR_INVERT	false
public static final double	DRIVE_PEAK_CURRENT_DURATION	0.1
public static final int	DRIVE_PEAK_CURRENT_LIMIT	60
public static final boolean	INVERT_GYRO	true
public static final boolean	IS_FIELD_RELATIVE	true
public static final boolean	IS_OPEN_LOOP	false
public static final double	MAX_ANGULAR_VELOCITY	10.0
public static final double	MAX_SPEED	4.0
public static final double	OPEN_LOOP_RAMP	0.25

frc.robot.Constants.Swerve.Mod0

Modifier and Type	Constant Field	Value
public static final int	ANGLE_MOTOR_ID	8
public static final int	CAN_CODER_ID	4
public static final int	DRIVE_MOTOR_ID	6

frc.robot.Constants.Swerve.Mod1

Modifier and Type	Constant Field	Value
public static final int	ANGLE_MOTOR_ID	4
public static final int	CAN_CODER_ID	1
public static final int	DRIVE_MOTOR_ID	1

frc.robot.Constants.Swerve.Mod2

Modifier and Type	Constant Field	Value
public static final int	ANGLE_MOTOR_ID	2
public static final int	CAN_CODER_ID	2
public static final int	DRIVE_MOTOR_ID	3

frc.robot.Constants.Swerve.Mod3

Modifier and Type	Constant Field	Value
public static final int	ANGLE_MOTOR_ID	5
public static final int	CAN_CODER_ID	3
public static final int	DRIVE_MOTOR_ID	7

frc.robot.Constants.SwerveTransformPID

Modifier and Type	Constant Field	Value
public static final double	MAX_ANGULAR_ACCELERATION	45.0
public static final double	MAX_ANGULAR_VELOCITY	9.0
public static final double	PID_TKD	0.0
public static final double	PID_TKI	0.0
public static final double	PID_TKP	3.0
public static final double	PID_XKD	0.0
public static final double	PID_XKI	0.0
public static final double	PID_XKP	2.0
public static final double	PID_YKD	0.0
public static final double	PID_YKI	0.0
public static final double	PID_YKP	2.0
public static final double	STD_DEV_MOD	2.0

frc.robot.Constants.Wrist

Modifier and Type	Constant Field	Value
public static final int	CONE_SENSOR_ID	0
public static final int	CUBE_SENSOR_ID_LEFT	1
public static final int	CUBE_SENSOR_ID_RIGHT	2
public static final double	encoderOffset	9.802
public static final double	HOLD_VOLTS	2.0
public static final double	INTAKE_PANIC_SPEED	-1.0
public static final double	INTAKE_RELEASE_SPEED	0.3
public static final double	INTAKE_SPEED	0.3
public static final int	INTAKE_STOP_SPEED	0
public static final double	STALL_CURRENT	170.0
public static final double	VOLTAGE_SPIKE_TIME	0.8
public static final int	WRIST_CAN_ID	12
public static final int	WRIST_INTAKE_ID	9
public static final int	WRIST_MOTOR_ID	12

frc.robot.commands.arm.ConeUpIntake

Modifier and Type	Constant Field	Value
public static final double	armAngle	-31.0
public static final double	wristAngle	-47.0

frc.robot.commands.arm.CubeIntake

Modifier and Type	Constant Field	Value
public static final double	armAngle	-46.0
public static final double	wristAngle	-69.0

frc.robot.commands.arm.DockArm

Modifier and Type	Constant Field	Value
public static final double	wristAngle	67.0