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
static class	Constants.Swerve.ModuleConstants	Swerve Module constants shared across all modules.

Field Summary

Fields

Modifier and Type	Field	Description
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 Distance	bumperFront
static final Distance	bumperRight
static final com.ctre.phoenix6.signals.SensorDirectionValue	cancoderInvert
static final double	closedLoopRamp
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	MAX_ELEVATOR_SPEED
static final double	maxAngularVelocity	Radians per Second
static final double	maxSpeed	Meters per Second
static final Translation2d[]	moduleTranslations
static final com.studica.frc.AHRS.NavXComType	navXID
static final double	openLoopRamp	These values are used by the drive falcon to ramp in open loop and closed loop driving.
static final Mass	robotMass
static final SwerveDriveKinematics	swerveKinematics	Swerve Kinematics No need to ever change this unless you are not doing a traditional rectangular/square 4 module swerve
static final Distance	trackWidth
static final Distance	wheelBase
static final Distance	wheelCircumference
static final Distance	wheelDiameter

Constructor Summary

Constructors

Constructor	Description
Swerve()

Method Summary

Modifier and Type	Method	Description
static org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig	getMapleConfig()	Get config for Maple-Sim.

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 Distance trackWidth

wheelBase

public static final Distance wheelBase

wheelDiameter

public static final Distance wheelDiameter

wheelCircumference

public static final Distance wheelCircumference

moduleTranslations

public static final Translation2d[] moduleTranslations

swerveKinematics

public static final SwerveDriveKinematics swerveKinematics

Swerve Kinematics No need to ever change this unless you are not doing a traditional rectangular/square 4 module swerve

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

openLoopRamp

public static final double openLoopRamp

These values are used by the drive falcon to ramp in open loop and closed loop driving. We found a small open loop ramp (0.25) helps with wear, tipping, etc

See Also:

• Constant Field Values

closedLoopRamp

public static final double closedLoopRamp

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

MAX_ELEVATOR_SPEED

public static final double MAX_ELEVATOR_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

robotMass

public static final Mass robotMass

bumperFront

public static final Distance bumperFront

bumperRight

public static final Distance bumperRight

Constructor Details

Swerve

public Swerve()

Method Details

getMapleConfig

public static org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig getMapleConfig()

Get config for Maple-Sim.