Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.BuildConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2026-05-31 16:31:24 CDT"
public static final long	BUILD_UNIX_TIME	1780263084517L
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	"FRC2026"
public static final String	VERSION	"unspecified"

frc.robot.Constants

Modifier and Type	Constant Field	Value
public static final boolean	keepInField	true
public static final boolean	tunable	true
public static final double	visionFudgeFactor	0.0

frc.robot.Constants.AdjustableHood

Modifier and Type	Constant Field	Value
public static final double	gearRatio	85.0
public static final double	hoodCANcoderDiscontinuity	0.5
public static final int	HoodMotorID	11
public static final double	hoodTolerence	0.05
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.0
public static final double	KI	0.0
public static final double	KP	200.0
public static final double	KS	0.3
public static final double	KV	0.0
public static final double	maxHoodAngleDeg	30.0
public static final double	MMAcceleration	100000.0
public static final double	MMCVelocity	100000.0
public static final double	MMJerk	100000.0
public static final double	passingAngle	0.0

frc.robot.Constants.Auto

Modifier and Type	Constant Field	Value
public static final String	cmpSpecial	"CMP Special"
public static final String	crossRamp	"Cross Ramp"
public static final double	fullSweepRampY	5.655
public static final double	fullSweepTrenchY	7.42
public static final String	halfSweepTrenchRamp	"Half Sweep Trench Ramp"
public static final String	justShoot	"Just Shoot"
public static final String	wilsonTest	"Peashooter"
public static final String	wilsonTestShort	"Peashooter Short"
public static final double	wilsonTestX	8.076
public static final double	wilsonTestX2	6.5

frc.robot.Constants.Climber.Pivot

Modifier and Type	Constant Field	Value
public static final double	ACCELERATION	10.0
public static final double	C_VELOCITY	4.0
public static final double	GEAR_RATIO	20.0
public static final int	ID	8
public static final double	JERK	6000000.0
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.9375
public static final double	KI	0.0
public static final double	KP	50.0
public static final double	KS	0.9
public static final double	KV	0.0

frc.robot.Constants.Climber.Telescope

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.9375
public static final double	KI	0.0
public static final double	KP	50.0
public static final double	KS	0.9
public static final double	KV	0.0
public static final int	LEFT_ID	14
public static final int	RIGHT_ID	15

frc.robot.Constants.DashboardValues

Modifier and Type	Constant Field	Value
public static final String	activeHub	"Dashboard/ActiveHub"
public static final String	autoChooser	"Dashboard/Auto/Auto Chooser"
public static final String	delay	"Dashboard/Auto/Delay"
public static final String	delay2	"Dashboard/Auto/Delay 2"
public static final double	delayDefault	0.0
public static final String	feetPastCenter	"Dashboard/Auto/Feet Past Center"
public static final double	feetPastCenterDefault	0.0
public static final String	field	"Dashboard/Field"
public static final String	fullWidth	"Dashboard/Auto/Full Width"
public static final String	rampOrTrenchEnd	"Dashboard/Auto/Ramp or Trench End"
public static final String	secondSweep	"Dashboard/Auto/Second Sweep"
public static final String	shootFirst	"Dashboard/Auto/Shoot First"
public static final String	shootX	"Dashboard/Auto/Just Shoot X"
public static final double	shootXDefault	2.5
public static final String	shootY	"Dashboard/Auto/Just Shoot Y"
public static final double	shootYDefault	4.0
public static final String	timeLeft	"Dashboard/TimeLeftInCurrentPhase"
public static final String	x1	"Dashboard/Auto/X1"
public static final String	x2	"Dashboard/Auto/X2"

frc.robot.Constants.DriverControls

Modifier and Type	Constant Field	Value
public static final double	driverRotationalMaxSpeed	4.0
public static final double	driverRotationalShootSpeed	1.5
public static final double	driverTranslationalMaxSpeed	4.0
public static final double	driverTranslationalShootSpeed	1.0
public static final double	stickDeadband	0.1

frc.robot.Constants.Indexer

Modifier and Type	Constant Field	Value
public static final int	indexerID	18
public static final int	indexerSpeed	0
public static final double	shooterNotShootingUnjamThreshold	1.0
public static final int	spinMotorID	9
public static final int	spinMotorSpeed	0
public static final double	timeBetweenUnjams	1.0
public static final double	timeReversingDuringUnjam	0.25

frc.robot.Constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final double	gearRatio	1.05
public static final int	hopperLeftID	16
public static final double	hopperMaxDistance	0.0
public static final double	hopperMinDistance	0.0
public static final int	hopperRightID	17
public static final double	hopperTuckedDistance	0.0
public static final int	intakeID	13
public static final double	intakeSpeed	0.0
public static final double	KD	0.0
public static final double	KI	0.0
public static final double	KP	6.0
public static final int	limitSwitchID	9

frc.robot.Constants.LEDs

Modifier and Type	Constant Field	Value
public static final int	LED_LENGTH	30
public static final int	LED_PORT	9

frc.robot.Constants.Shooter

Modifier and Type	Constant Field	Value
public static final double	atSpeedThreshold	50.0
public static final int	motor1ID	10
public static final int	motor2ID	12
public static final double	passingSpeed	0.0
public static final double	shooterKD	0.0
public static final double	shooterKI	0.0
public static final double	shooterKP	0.11
public static final double	shooterKS	0.1
public static final double	shooterKV	0.12
public static final double	shooterVelocity	0.0

frc.robot.Constants.Swerve

Modifier and Type	Constant Field	Value
public static final int	angleCurrentLimit	25
public static final int	angleCurrentLowerLimit	40
public static final double	angleCurrentLowerTimeThreshold	0.1
public static final boolean	angleEnableCurrentLimit	true
public static final double	autoMaxSpeed	3.0
public static final double	backTiltLimit	1000.0
public static final double	closedLoopRamp	0.0
public static final int	driveCurrentLimit	35
public static final int	driveCurrentLowerLimit	60
public static final double	driveCurrentLowerTimeThreshold	0.1
public static final boolean	driveEnableCurrentLimit	true
public static final double	forwardLimit	10.0
public static final double	forwardTiltLimit	1000.0
public static final boolean	invertGyro	true
public static final boolean	isCanviore	true
public static final double	leftTiltLimit	1000.0
public static final double	maxAngularVelocity	4.0
public static final double	maxSpeed	7.0
public static final double	odometryFrequency	100.0
public static final double	openLoopRamp	0.25
public static final double	rightTiltLimit	1000.0
public static final double	skidLimit	1000.0

frc.robot.Constants.SwerveTransformPID

Modifier and Type	Constant Field	Value
public static final double	maxAngularAcceleration	45.0
public static final double	maxAngularVelocity	6.0
public static final double	rotationD	0.0
public static final double	rotationI	0.0
public static final double	rotationP	2.0
public static final double	translationD	0.0
public static final double	translationI	0.0
public static final double	translationP	2.5

frc.robot.Constants.Trench

Modifier and Type	Constant Field	Value
public static final double	tolerance	0.08

frc.robot.Constants.Turret

Modifier and Type	Constant Field	Value
public static final double	cancoderToTurretGearing	4.04
public static final double	motorToCancoder	9.0
public static final double	motorToTurretGearing	36.36
public static final double	turretCANCoderDiscontinuity	0.5
public static final int	TurretCANcoderID1	5
public static final int	TurretCANcoderID2	6
public static final int	TurretMotorID	19

frc.robot.FieldConstants.LinesHorizontal

Modifier and Type	Constant Field	Value
public static final double	rightTrenchOpenEnd	0.0

frc.robot.shotdata.GeneratedLUTs

Modifier and Type	Constant Field	Value
public static final double	SPEED_TRANSFER_COEFF	0.47