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

  • Field Details

    • isCanviore

      public static final boolean isCanviore
      If true, motors and absolute encoders are on canivore loop. Otherwise on rio.
      See Also:

    • invertGyro

      public static final boolean invertGyro
      See Also:

    • trackWidth

      public static final double trackWidth
      Distance between right and left wheels on robot

    • wheelBase

      public static final double wheelBase
      Distance between front and back wheels on robot

    • wheelRadius

      public static final Distance wheelRadius
      Distance from the center of the wheel to the ground

    • wheelDiameter

      public static final Distance wheelDiameter
      Diameter of the wheels, twice the radius

    • wheelCircumference

      public static final Distance wheelCircumference
      Circumference of the wheels

    • bumperFront

      public static final Distance bumperFront
      Bumper to bumper length of the robot

    • bumperRight

      public static final Distance bumperRight
      Bumper to bumper back of the robot

    • swerveTranslations

      public static final Translation2d[] swerveTranslations

    • swerveKinematics

      public static final SwerveDriveKinematics swerveKinematics
      Swerve Drive Kinematics Object for Rectangular/square 4 Module Swerve

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

    • driveGearRatio

      public static final double driveGearRatio
      Swerve Drive Motor Gear Ratio
      See Also:

    • angleGearRatio

      public static final double angleGearRatio
      Swerve Angle Motor Gear Ratio
      See Also:

    • 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

    • angleCurrentLimit

      public static final int angleCurrentLimit
      See Also:

    • angleCurrentLowerLimit

      public static final int angleCurrentLowerLimit
      See Also:

    • angleCurrentLowerTimeThreshold

      public static final double angleCurrentLowerTimeThreshold
      See Also:

    • angleEnableCurrentLimit

      public static final boolean angleEnableCurrentLimit
      See Also:

    • driveCurrentLimit

      public static final int driveCurrentLimit
      See Also:

    • driveCurrentLowerLimit

      public static final int driveCurrentLowerLimit
      See Also:

    • driveCurrentLowerTimeThreshold

      public static final double driveCurrentLowerTimeThreshold
      See Also:

    • driveEnableCurrentLimit

      public static final boolean driveEnableCurrentLimit
      See Also:

    • openLoopRamp

      public static final double openLoopRamp
      See Also:

    • closedLoopRamp

      public static final double closedLoopRamp
      See Also:

    • angleMotorPID

      public static final PIDConstants angleMotorPID

    • driveMotorPID

      public static final PIDConstants driveMotorPID

    • maxSpeed

      public static final double maxSpeed
      Max Speed in Meters per Second
      See Also:

    • autoMaxSpeed

      public static final double autoMaxSpeed
      Max Speed for Auto in Meters per Second
      See Also:

    • maxAngularVelocity

      public static final double maxAngularVelocity
      Max Angular Velocity in Radians per Second
      See Also:

    • angleNeutralMode

      public static final com.ctre.phoenix6.signals.NeutralModeValue angleNeutralMode
      Angle Motor Neutral Mode

    • driveNeutralMode

      public static final com.ctre.phoenix6.signals.NeutralModeValue driveNeutralMode
      Drive Motor Neutral Mode

    • odometryFrequency

      public static final double odometryFrequency
      See Also:

    • forwardLimit

      public static final double forwardLimit
      See Also:

    • forwardTiltLimit

      public static final double forwardTiltLimit
      See Also:

    • leftTiltLimit

      public static final double leftTiltLimit
      See Also:

    • rightTiltLimit

      public static final double rightTiltLimit
      See Also:

    • backTiltLimit

      public static final double backTiltLimit
      See Also:

    • skidLimit

      public static final double skidLimit
      See Also:

    • modulesConstants

      public static final ModuleConstants[] modulesConstants

  • Constructor Details

    • Swerve

      public Swerve()