Constant Field Values

Contents

• frc.lib.*
• frc.robot.*

frc.lib.*

frc.lib.util.LongArrayList

Modifier and Type	Constant Field	Value
public static final int	DEFAULT_INITIAL_CAPACITY	10

frc.robot.*

frc.robot.BuildConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2025-02-19 22:31:21 EST"
public static final long	BUILD_UNIX_TIME	1740022281454L
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	"FRC2024"
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 double	LEAD_GAIN	0.3
public static final int	OPERATOR_ID	1
public static final double	STICK_DEADBAND	0.1

frc.robot.Constants.AutoConstants

Modifier and Type	Constant Field	Value
public static final double	kMaxAccelerationMetersPerSecondSquared	3.0
public static final double	kMaxAngularSpeedRadiansPerSecond	3.141592653589793
public static final double	kMaxAngularSpeedRadiansPerSecondSquared	3.141592653589793
public static final double	kMaxSpeedMetersPerSecond	3.0
public static final double	kPThetaController	1.0
public static final double	kPXController	1.0
public static final double	kPYController	1.0

frc.robot.Constants.CameraConstants.BackLeftFacingCamera

Modifier and Type	Constant Field	Value
public static final String	CAMERA_IP	"10.55.72.13"
public static final String	CAMERA_NAME	"back-left"
public static final double	LARGEST_DISTANCE	0.1
public static final double	ROLL	0.0

frc.robot.Constants.CameraConstants.FrontLeftFacingCamera

Modifier and Type	Constant Field	Value
public static final String	CAMERA_IP	"10.55.72.12"
public static final String	CAMERA_NAME	"front-left"
public static final double	LARGEST_DISTANCE	0.1
public static final double	ROLL	0.0

frc.robot.Constants.CameraConstants.FrontRightFacingCamera

Modifier and Type	Constant Field	Value
public static final String	CAMERA_IP	"10.55.72.10"
public static final String	CAMERA_NAME	"front-right"
public static final double	LARGEST_DISTANCE	0.1

frc.robot.Constants.ClimberConstants

Modifier and Type	Constant Field	Value
public static final double	CLIMBER_KD	0.1
public static final double	CLIMBER_KG	0.1
public static final double	CLIMBER_KI	0.1
public static final double	CLIMBER_KP	0.1
public static final double	CLIMBER_KS	0.1
public static final double	CLIMBER_KV	0.1
public static final double	CLIMBER_MAX_ACCELERATION	0.0
public static final double	CLIMBER_MAX_VELOCITY	0.0
public static final double	CLIMBER_POWER	0.8

frc.robot.Constants.ElevatorWristConstants

Modifier and Type	Constant Field	Value
public static final double	ELEVATOR_REF_1_HEIGHT	24.0
public static final double	ELEVATOR_REF_2_HEIGHT	44.75

frc.robot.Constants.ElevatorWristConstants.PID

Modifier and Type	Constant Field	Value
public static final double	ELEVATOR_KD	0.0
public static final double	ELEVATOR_KG	0.0
public static final double	ELEVATOR_KI	0.0
public static final double	ELEVATOR_KP	10.0
public static final double	ELEVATOR_KS	0.0
public static final double	ELEVATOR_KV	0.0
public static final double	ELEVATOR_MAX_ACCELERATION	200.0
public static final double	ELEVATOR_MAX_VELOCITY	320.0
public static final double	WRIST_AMP_KD	0.0
public static final double	WRIST_AMP_KI	0.0
public static final double	WRIST_AMP_KP	150.0
public static final double	WRIST_KD	0.15
public static final double	WRIST_KG	0.0
public static final double	WRIST_KI	0.1
public static final double	WRIST_KP	110.0
public static final double	WRIST_KS	0.0
public static final double	WRIST_KV	0.0
public static final double	WRIST_LARGE_KP	60.0
public static final double	WRIST_LOWPASS	1.0
public static final double	WRIST_MAX_ACCELERATION	1.0E-10
public static final double	WRIST_MAX_VELOCITY	1.0E-6

frc.robot.Constants.ElevatorWristConstants.SetPoints

Modifier and Type	Constant Field	Value
public static final double	AMP_HEIGHT	43.5
public static final double	CLIMBING_HEIGHT	40.0
public static final double	HOME_HEIGHT	24.0
public static final double	MAX_EXTENSION	43.5
public static final double	TRAP_HEIGHT	44.0

frc.robot.Constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final double	INDEX_MOTOR_BACKWARD	0.0
public static final double	INDEX_MOTOR_FORWARD	0.2
public static final double	INDEX_MOTOR_STOP	0.0
public static final int	INDEXER_BEAM_BRAKE_DIO_PORT	8
public static final int	INTAKE_BEAM_BRAKE_DIO_PORT	6
public static final double	INTAKE_MOTOR_BACKWARD	0.0
public static final double	INTAKE_MOTOR_FORWARD	0.0
public static final boolean	INTAKE_MOTOR_INVERTED	true
public static final double	INTAKE_MOTOR_STOP	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.Motors.Climber

Modifier and Type	Constant Field	Value
public static final int	LEFT_MOTOR_ID	60
public static final int	RIGHT_MOTOR_ID	48

frc.robot.Constants.Motors.ElevatorWrist

Modifier and Type	Constant Field	Value
public static final int	ELEVATOR_LEFT_NEO_ID	12
public static final int	ELEVATOR_RIGHT_NEO_ID	57
public static final int	WRIST_NEO_ID	52

frc.robot.Constants.Motors.Intake

Modifier and Type	Constant Field	Value
public static final int	INDEXER_MOTOR_ID	32
public static final int	INTAKE_MOTOR_ID_LEFT	14
public static final int	INTAKE_MOTOR_ID_RIGHT	61

frc.robot.Constants.Motors.Shooter

Modifier and Type	Constant Field	Value
public static final int	SHOOTER_BOTTOM_ID	15
public static final int	SHOOTER_TOP_ID	13

frc.robot.Constants.ShooterConstants

Modifier and Type	Constant Field	Value
public static final double	BOTTOM_KV	6.18E-4
public static final double	GEAR_RATIO	3.0
public static final double	KD	0.0
public static final double	KI	0.0
public static final double	KP	0.0014
public static final double	KS	0.0
public static final double	SHOOT_SPEAKER_RPM	11250.0
public static final double	TOP_KV	6.18E-4

frc.robot.Constants.Swerve

Modifier and Type	Constant Field	Value
public static final int	angleCurrentLimit	25
public static final int	angleCurrentThreshold	40
public static final double	angleCurrentThresholdTime	0.1
public static final boolean	angleEnableCurrentLimit	true
public static final double	angleGearRatio	21.428571428571427
public static final double	angleKD	0.0
public static final double	angleKI	0.0
public static final double	angleKP	100.0
public static final double	AUTO_MAX_SPEED	3.0
public static final double	AUTO_ROTATION_KD	0.0
public static final double	AUTO_ROTATION_KI	0.0
public static final double	AUTO_ROTATION_KP	5.0
public static final double	closedLoopRamp	0.0
public static final int	driveCurrentLimit	35
public static final int	driveCurrentThreshold	60
public static final double	driveCurrentThresholdTime	0.1
public static final boolean	driveEnableCurrentLimit	true
public static final double	driveGearRatio	8.14
public static final double	driveKA	0.27
public static final double	driveKD	0.0
public static final double	driveKF	0.0
public static final double	driveKI	0.0
public static final double	driveKP	0.12
public static final double	driveKS	0.32
public static final double	driveKV	1.51
public static final boolean	invertGyro	true
public static final boolean	isFieldRelative	true
public static final boolean	isOpenLoop	false
public static final double	maxAngularVelocity	4.0
public static final double	maxSpeed	3.0
public static final double	openLoopRamp	0.25

frc.robot.Constants.Swerve.Mod0

Modifier and Type	Constant Field	Value
public static final int	angleMotorID	51
public static final int	canCoderID	4
public static final int	driveMotorID	6

frc.robot.Constants.Swerve.Mod1

Modifier and Type	Constant Field	Value
public static final int	angleMotorID	40
public static final int	canCoderID	2
public static final int	driveMotorID	2

frc.robot.Constants.Swerve.Mod2

Modifier and Type	Constant Field	Value
public static final int	angleMotorID	9
public static final int	canCoderID	1
public static final int	driveMotorID	3

frc.robot.Constants.Swerve.Mod3

Modifier and Type	Constant Field	Value
public static final int	angleMotorID	8
public static final int	canCoderID	10
public static final int	driveMotorID	10

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	3.5
public static final double	PID_YKD	0.0
public static final double	PID_YKI	0.0
public static final double	PID_YKP	3.5
public static final double	STD_DEV_MOD	2.0