Package frc.robot

Class Constants.Climber.Pivot

java.lang.Object
frc.robot.Constants.Climber.Pivot
Enclosing class:
Constants.Climber
public static final class Constants.Climber.Pivot extends Object
Pivot rotation mechanism constants.

Includes motor configuration, PID and feedforward gains for motion magic control, motion constraints, and preset angle positions.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final double
    ACCELERATION
    Motion magic acceleration, in rotations per second squared.
    static final com.ctre.phoenix6.signals.NeutralModeValue
    BREAK
    Neutral mode for the pivot motor (brake or coast).
    static final double
    C_VELOCITY
    Motion magic cruise velocity, in rotations per second.
    static final Angle
    DEGREES_AT_TOP
    Pivot angle at the top position, in degrees.
    static final double
    GEAR_RATIO
    Gear ratio for the pivot mechanism.
    static final int
    ID
    CAN ID for the pivot motor.
    static final double
    JERK
    Motion magic jerk limit.
    static final double
    KA
    Acceleration feedforward constant.
    static final double
    KD
    Derivative gain for pivot position control.
    static final double
    KG
    Gravity feedforward constant for maintaining pivot angle.
    static final double
    KI
    Integral gain for pivot position control.
    static final double
    KP
    Proportional gain for pivot position control.
    static final double
    KS
    Static feedforward constant for overcoming friction.
    static final double
    KV
    Velocity feedforward constant.
    static final AngularVelocity
    MAX_VELOCITY
    Maximum pivot velocity.
    static final Angle
    ROTATIONS_AT_TOP
    Pivot angle at the top position, in radians.
    static final double
    SENSOR_TO_MECHANISM_RATIO
    Sensor to mechanism ratio for converting encoder rotations to mechanism angle.
    static final Angle
    startingAngle
    Angle of the climber in starting configuration

  • Constructor Summary

    Constructors
    Constructor
    Description
    Pivot()
     

  • Method Summary

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • ID

      public static final int ID
      CAN ID for the pivot motor.
      See Also:

    • BREAK

      public static final com.ctre.phoenix6.signals.NeutralModeValue BREAK
      Neutral mode for the pivot motor (brake or coast).

    • KP

      public static final double KP
      Proportional gain for pivot position control.
      See Also:

    • KI

      public static final double KI
      Integral gain for pivot position control.
      See Also:

    • KD

      public static final double KD
      Derivative gain for pivot position control.
      See Also:

    • KS

      public static final double KS
      Static feedforward constant for overcoming friction.
      See Also:

    • KV

      public static final double KV
      Velocity feedforward constant.
      See Also:

    • KA

      public static final double KA
      Acceleration feedforward constant.
      See Also:

    • KG

      public static final double KG
      Gravity feedforward constant for maintaining pivot angle.
      See Also:

    • C_VELOCITY

      public static final double C_VELOCITY
      Motion magic cruise velocity, in rotations per second.
      See Also:

    • ACCELERATION

      public static final double ACCELERATION
      Motion magic acceleration, in rotations per second squared.
      See Also:

    • JERK

      public static final double JERK
      Motion magic jerk limit.
      See Also:

    • MAX_VELOCITY

      public static final AngularVelocity MAX_VELOCITY
      Maximum pivot velocity.

    • GEAR_RATIO

      public static final double GEAR_RATIO
      Gear ratio for the pivot mechanism.
      See Also:

    • DEGREES_AT_TOP

      public static final Angle DEGREES_AT_TOP
      Pivot angle at the top position, in degrees.

    • ROTATIONS_AT_TOP

      public static final Angle ROTATIONS_AT_TOP
      Pivot angle at the top position, in radians.

    • startingAngle

      public static final Angle startingAngle
      Angle of the climber in starting configuration

    • SENSOR_TO_MECHANISM_RATIO

      public static final double SENSOR_TO_MECHANISM_RATIO
      Sensor to mechanism ratio for converting encoder rotations to mechanism angle.

  • Constructor Details

    • Pivot

      public Pivot()