Package frc.robot

Class Constants.Swerve.ModuleConstants

java.lang.Object
frc.robot.Constants.Swerve.ModuleConstants
Enclosing class:
Constants.Swerve
public static class Constants.Swerve.ModuleConstants extends Object
Swerve Module constants shared across all modules.

  • Field Details

    • driveMotor

      public static final DCMotor driveMotor

    • angleMotor

      public static final DCMotor angleMotor

    • driveFrictionVoltage

      public static final Voltage driveFrictionVoltage

    • angleFrictionVoltage

      public static final Voltage angleFrictionVoltage

    • wheelCoeffFriction

      public static final double wheelCoeffFriction
      See Also:

    • angleMomentOfInertia

      public static final MomentOfInertia angleMomentOfInertia

    • wheelRadius

      public static final Distance wheelRadius

    • slipCurrent

      public static final Current slipCurrent

    • driveCurrentLimit

      public static final Current driveCurrentLimit

    • driveCurrentLowerLimit

      public static final Current driveCurrentLowerLimit

    • driveCurrentLowerTimeThreshold

      public static final Time driveCurrentLowerTimeThreshold

    • driveEnableCurrentLimit

      public static final boolean driveEnableCurrentLimit
      See Also:

    • angleCurrentLimit

      public static final Current angleCurrentLimit

    • angleCurrentThreshold

      public static final Current angleCurrentThreshold

    • angleCurrentThresholdTime

      public static final Time angleCurrentThresholdTime

    • angleEnableCurrentLimit

      public static final boolean angleEnableCurrentLimit
      See Also:

    • maxSteerRate

      public static final AngularVelocity maxSteerRate

    • maxDriveRate

      public static final LinearAcceleration maxDriveRate

    • ffkS

      public static final double ffkS
      See Also:

    • ffkV

      public static final double ffkV
      See Also:

    • ffkT

      public static final double ffkT

    • ffkA

      public static final double ffkA
      See Also:

    • drivekP

      public static final double drivekP
      See Also:

    • drivekD

      public static final double drivekD
      See Also:

    • anglekP

      public static final double anglekP
      See Also:

    • anglekD

      public static final double anglekD
      See Also:

    • driveReduction

      public static final double driveReduction

    • angleReduction

      public static final double angleReduction

  • Constructor Details

    • ModuleConstants

      public ModuleConstants()