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 Constants

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	angleCurrentLimit
static final int	angleCurrentThreshold
static final double	angleCurrentThresholdTime
static final boolean	angleEnableCurrentLimit
static final double	angleGearRatio
static final double	angleKD
static final double	angleKI
static final double	angleKP
static final com.ctre.phoenix6.signals.InvertedValue	angleMotorInvert
static final com.ctre.phoenix6.signals.NeutralModeValue	angleNeutralMode
static final double	AUTO_MAX_SPEED
static final double	AUTO_ROTATION_KD
static final double	AUTO_ROTATION_KI
static final double	AUTO_ROTATION_KP
static final com.ctre.phoenix6.signals.SensorDirectionValue	cancoderInvert
static final double	closedLoopRamp
static final int	driveCurrentLimit
static final int	driveCurrentThreshold
static final double	driveCurrentThresholdTime
static final boolean	driveEnableCurrentLimit
static final double	driveGearRatio
static final double	driveKA
static final double	driveKD
static final double	driveKF
static final double	driveKI
static final double	driveKP
static final double	driveKS
static final double	driveKV
static final com.ctre.phoenix6.signals.InvertedValue	driveMotorInvert
static final com.ctre.phoenix6.signals.NeutralModeValue	driveNeutralMode
static final boolean	invertGyro
static final boolean	isFieldRelative
static final boolean	isOpenLoop
static final double	maxAngularVelocity	Radians per Second
static final double	maxSpeed	Meters per Second
static final Translation2d	MOD0_MODOFFSET
static final com.studica.frc.AHRS.NavXComType	navXID
static final double	openLoopRamp
static final SwerveDriveKinematics	swerveKinematics
static final double	trackWidth
static final double	wheelBase
static final Distance	wheelCircumference
static final Distance	wheelDiameter

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

AUTO_ROTATION_KP

public static final double AUTO_ROTATION_KP

See Also:

• Constant Field Values

AUTO_ROTATION_KI

public static final double AUTO_ROTATION_KI

See Also:

• Constant Field Values

AUTO_ROTATION_KD

public static final double AUTO_ROTATION_KD

See Also:

• Constant Field Values

navXID

public static final com.studica.frc.AHRS.NavXComType navXID

invertGyro

public static final boolean invertGyro

See Also:

• Constant Field Values

isFieldRelative

public static final boolean isFieldRelative

See Also:

• Constant Field Values

isOpenLoop

public static final boolean isOpenLoop

See Also:

• Constant Field Values

trackWidth

public static final double trackWidth

wheelBase

public static final double wheelBase

wheelDiameter

public static final Distance wheelDiameter

wheelCircumference

public static final Distance wheelCircumference

MOD0_MODOFFSET

public static final Translation2d MOD0_MODOFFSET

swerveKinematics

public static final SwerveDriveKinematics swerveKinematics

driveGearRatio

public static final double driveGearRatio

See Also:

• Constant Field Values

angleGearRatio

public static final double angleGearRatio

See Also:

• Constant Field Values

angleMotorInvert

public static final com.ctre.phoenix6.signals.InvertedValue angleMotorInvert

driveMotorInvert

public static final com.ctre.phoenix6.signals.InvertedValue driveMotorInvert

cancoderInvert

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

angleCurrentLimit

public static final int angleCurrentLimit

See Also:

• Constant Field Values

angleCurrentThreshold

public static final int angleCurrentThreshold

See Also:

• Constant Field Values

angleCurrentThresholdTime

public static final double angleCurrentThresholdTime

See Also:

• Constant Field Values

angleEnableCurrentLimit

public static final boolean angleEnableCurrentLimit

See Also:

• Constant Field Values

driveCurrentLimit

public static final int driveCurrentLimit

See Also:

• Constant Field Values

driveCurrentThreshold

public static final int driveCurrentThreshold

See Also:

• Constant Field Values

driveCurrentThresholdTime

public static final double driveCurrentThresholdTime

See Also:

• Constant Field Values

driveEnableCurrentLimit

public static final boolean driveEnableCurrentLimit

See Also:

• Constant Field Values

openLoopRamp

public static final double openLoopRamp

See Also:

• Constant Field Values

closedLoopRamp

public static final double closedLoopRamp

See Also:

• Constant Field Values

angleKP

public static final double angleKP

See Also:

• Constant Field Values

angleKI

public static final double angleKI

See Also:

• Constant Field Values

angleKD

public static final double angleKD

See Also:

• Constant Field Values

driveKP

public static final double driveKP

See Also:

• Constant Field Values

driveKI

public static final double driveKI

See Also:

• Constant Field Values

driveKD

public static final double driveKD

See Also:

• Constant Field Values

driveKF

public static final double driveKF

See Also:

• Constant Field Values

driveKS

public static final double driveKS

See Also:

• Constant Field Values

driveKV

public static final double driveKV

See Also:

• Constant Field Values

driveKA

public static final double driveKA

See Also:

• Constant Field Values

maxSpeed

public static final double maxSpeed

Meters per Second

See Also:

• Constant Field Values

AUTO_MAX_SPEED

public static final double AUTO_MAX_SPEED

See Also:

• Constant Field Values

maxAngularVelocity

public static final double maxAngularVelocity

Radians per Second

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

Constructor Details

Swerve

public Swerve()