Package frc.robot

Class Constants.Climber.Telescope

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

Defines motor IDs and neutral mode for the left and right telescope motors.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final com.ctre.phoenix6.signals.NeutralModeValue
    BREAK
    Neutral mode for telescope motors (brake or coast).
    static final Angle
    DEGREES_AT_TOP
    Telescope length at the top position, in degrees.
    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 int
    LEFT_ID
    CAN ID for the left telescope motor.
    static final int
    RIGHT_ID
    CAN ID for the right telescope motor.
    static final Distance
    ROTATIONS_AT_TOP
    Telescope length at the top position, in Meters.
    static final double
    SENSOR_TO_MECHANISM_RATIO
    S Sensor to mechanism ratio for converting encoder rotations to mechanism angle.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Telescope()
     

  • Method Summary

    Methods inherited from class java.lang.Object

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

  • Field Details

    • RIGHT_ID

      public static final int RIGHT_ID
      CAN ID for the right telescope motor.
      See Also:

    • LEFT_ID

      public static final int LEFT_ID
      CAN ID for the left telescope motor.
      See Also:

    • BREAK

      public static final com.ctre.phoenix6.signals.NeutralModeValue BREAK
      Neutral mode for telescope motors (brake or coast).

    • DEGREES_AT_TOP

      public static final Angle DEGREES_AT_TOP
      Telescope length at the top position, in degrees.

    • ROTATIONS_AT_TOP

      public static final Distance ROTATIONS_AT_TOP
      Telescope length at the top position, in Meters.

    • SENSOR_TO_MECHANISM_RATIO

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

    • 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:

  • Constructor Details

    • Telescope

      public Telescope()