Package frc.robot

Class Constants.Swerve

java.lang.Object

frc.robot.Constants.Swerve

Enclosing class:

Constants

public static final class Constants.Swerve
extends Object

Swerve ID's.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	Constants.Swerve.Mod0	Front Left Module - Module 0.
static final class	Constants.Swerve.Mod1	Front Right Module - Module 1.
static final class	Constants.Swerve.Mod2	Back Left Module - Module 2.
static final class	Constants.Swerve.Mod3	Back Right Module - Module 3.

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ANGLE_CONTINOUS_CURRENT_LIMIT
static final boolean	ANGLE_ENABLE_CURRENT_LIMIT
static final double	ANGLE_GEAR_RATIO
static final double	ANGLE_KD
static final double	ANGLE_KF
static final double	ANGLE_KI
static final double	ANGLE_KP
static final boolean	ANGLE_MOTOR_INVERT
static final double	ANGLE_PEAK_CURRENT_DURATION
static final int	ANGLE_PEAK_CURRENT_LIMIT
static final com.ctre.phoenix6.signals.NeutralModeValue	angleNeutralMode
static final com.ctre.phoenix6.signals.SensorDirectionValue	CAN_CODER_INVERT
static final double	CLOSED_LOOP_RAMP
static final int	DRIVE_CONTINOUS_CURRENT_LIMIT
static final boolean	DRIVE_ENABLE_CURRENT_LIMIT
static final double	DRIVE_GEAR_RATIO
static final double	DRIVE_KA
static final double	DRIVE_KD
static final double	DRIVE_KF
static final double	DRIVE_KI
static final double	DRIVE_KP
static final double	DRIVE_KS
static final double	DRIVE_KV
static final boolean	DRIVE_MOTOR_INVERT
static final double	DRIVE_PEAK_CURRENT_DURATION
static final int	DRIVE_PEAK_CURRENT_LIMIT
static final com.ctre.phoenix6.signals.NeutralModeValue	driveNeutralMode
static final boolean	INVERT_GYRO
static final boolean	IS_FIELD_RELATIVE
static final boolean	IS_OPEN_LOOP
static final double	MAX_ANGULAR_VELOCITY
static final double	MAX_SPEED
static final Translation2d	MOD0_MODOFFSET
static final SPI.Port	navXID
static final double	OPEN_LOOP_RAMP
static final com.pathplanner.lib.util.HolonomicPathFollowerConfig	pathFollowerConfig
static final double	ROBOT_RADIUS
static final SwerveDriveKinematics	SWERVE_KINEMATICS
static final double	TRACK_WIDTH
static final double	WHEEL_BASE
static final double	WHEEL_CIRCUMFERENCE
static final double	WHEEL_DIAMETER

Constructor Summary

Constructors

Constructor	Description
Swerve()

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

navXID

public static final SPI.Port navXID

INVERT_GYRO

public static final boolean INVERT_GYRO

See Also:

• Constant Field Values

TRACK_WIDTH

public static final double TRACK_WIDTH

WHEEL_BASE

public static final double WHEEL_BASE

ROBOT_RADIUS

public static final double ROBOT_RADIUS

MOD0_MODOFFSET

public static final Translation2d MOD0_MODOFFSET

WHEEL_DIAMETER

public static final double WHEEL_DIAMETER

WHEEL_CIRCUMFERENCE

public static final double WHEEL_CIRCUMFERENCE

IS_FIELD_RELATIVE

public static final boolean IS_FIELD_RELATIVE

See Also:

• Constant Field Values

IS_OPEN_LOOP

public static final boolean IS_OPEN_LOOP

See Also:

• Constant Field Values

OPEN_LOOP_RAMP

public static final double OPEN_LOOP_RAMP

See Also:

• Constant Field Values

CLOSED_LOOP_RAMP

public static final double CLOSED_LOOP_RAMP

See Also:

• Constant Field Values

DRIVE_GEAR_RATIO

public static final double DRIVE_GEAR_RATIO

See Also:

• Constant Field Values

ANGLE_GEAR_RATIO

public static final double ANGLE_GEAR_RATIO

See Also:

• Constant Field Values

SWERVE_KINEMATICS

public static final SwerveDriveKinematics SWERVE_KINEMATICS

ANGLE_CONTINOUS_CURRENT_LIMIT

public static final int ANGLE_CONTINOUS_CURRENT_LIMIT

See Also:

• Constant Field Values

ANGLE_PEAK_CURRENT_LIMIT

public static final int ANGLE_PEAK_CURRENT_LIMIT

See Also:

• Constant Field Values

ANGLE_PEAK_CURRENT_DURATION

public static final double ANGLE_PEAK_CURRENT_DURATION

See Also:

• Constant Field Values

ANGLE_ENABLE_CURRENT_LIMIT

public static final boolean ANGLE_ENABLE_CURRENT_LIMIT

See Also:

• Constant Field Values

DRIVE_CONTINOUS_CURRENT_LIMIT

public static final int DRIVE_CONTINOUS_CURRENT_LIMIT

See Also:

• Constant Field Values

DRIVE_PEAK_CURRENT_LIMIT

public static final int DRIVE_PEAK_CURRENT_LIMIT

See Also:

• Constant Field Values

DRIVE_PEAK_CURRENT_DURATION

public static final double DRIVE_PEAK_CURRENT_DURATION

See Also:

• Constant Field Values

DRIVE_ENABLE_CURRENT_LIMIT

public static final boolean DRIVE_ENABLE_CURRENT_LIMIT

See Also:

• Constant Field Values

ANGLE_KP

public static final double ANGLE_KP

See Also:

• Constant Field Values

ANGLE_KI

public static final double ANGLE_KI

See Also:

• Constant Field Values

ANGLE_KD

public static final double ANGLE_KD

See Also:

• Constant Field Values

ANGLE_KF

public static final double ANGLE_KF

See Also:

• Constant Field Values

DRIVE_KP

public static final double DRIVE_KP

See Also:

• Constant Field Values

DRIVE_KI

public static final double DRIVE_KI

See Also:

• Constant Field Values

DRIVE_KD

public static final double DRIVE_KD

See Also:

• Constant Field Values

DRIVE_KF

public static final double DRIVE_KF

See Also:

• Constant Field Values

DRIVE_KS

public static final double DRIVE_KS

See Also:

• Constant Field Values

DRIVE_KV

public static final double DRIVE_KV

See Also:

• Constant Field Values

DRIVE_KA

public static final double DRIVE_KA

See Also:

• Constant Field Values

MAX_SPEED

public static final double MAX_SPEED

See Also:

• Constant Field Values

MAX_ANGULAR_VELOCITY

public static final double MAX_ANGULAR_VELOCITY

See Also:

• Constant Field Values

angleNeutralMode

public static final com.ctre.phoenix6.signals.NeutralModeValue angleNeutralMode

driveNeutralMode

public static final com.ctre.phoenix6.signals.NeutralModeValue driveNeutralMode

DRIVE_MOTOR_INVERT

public static final boolean DRIVE_MOTOR_INVERT

See Also:

• Constant Field Values

ANGLE_MOTOR_INVERT

public static final boolean ANGLE_MOTOR_INVERT

See Also:

• Constant Field Values

CAN_CODER_INVERT

public static final com.ctre.phoenix6.signals.SensorDirectionValue CAN_CODER_INVERT

pathFollowerConfig

public static final com.pathplanner.lib.util.HolonomicPathFollowerConfig pathFollowerConfig

Constructor Details

Swerve

public Swerve()