Package frc.robot

Class Constants.Turret

java.lang.Object

frc.robot.Constants.Turret

Enclosing class:

Constants

public static final class Constants.Turret
extends Object

Turret Constants

Field Summary

Fields

Modifier and Type	Field	Description
static final com.ctre.phoenix6.signals.SensorDirectionValue	canCoder1Invert
static final com.ctre.phoenix6.signals.SensorDirectionValue	canCoder2Invert
static final double	gear1Gearing
static final Rotation2d	gear1Offset
static final double	gear2Gearing
static final Rotation2d	gear2Offset
static final double	KA	Acceleration Characterization Value
static final double	KD	Derivative PID Value for turret position control.
static final double	KI	Integral PID Value for turret position control.
static final double	KP	Proportional PID Value for turret position control.
static final double	KS	Static Characterization Value for overcoming friction.
static final double	KV	Velocity Characterization Value
static final Angle	maxAngle
static final Angle	minAngle
static final double	MMAcceleration
static final double	MMCVelocity
static final double	MMJerk
static final double	motorGearing
static final Angle	testAngle
static final double	turretCANCoderDiscontinuity
static final int	TurretCANcoderID1
static final int	TurretCANcoderID2
static final int	TurretMotorID
static final double	turretTolerence

Constructor Summary

Constructors

Constructor	Description
Turret()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

motorGearing

public static final double motorGearing

See Also:

• Constant Field Values

gear1Gearing

public static final double gear1Gearing

See Also:

• Constant Field Values

gear1Offset

public static final Rotation2d gear1Offset

gear2Gearing

public static final double gear2Gearing

See Also:

• Constant Field Values

gear2Offset

public static final Rotation2d gear2Offset

minAngle

public static final Angle minAngle

maxAngle

public static final Angle maxAngle

TurretMotorID

public static final int TurretMotorID

See Also:

• Constant Field Values

TurretCANcoderID1

public static final int TurretCANcoderID1

See Also:

• Constant Field Values

TurretCANcoderID2

public static final int TurretCANcoderID2

See Also:

• Constant Field Values

KP

public static final double KP

Proportional PID Value for turret position control.

See Also:

• Constant Field Values

KI

public static final double KI

Integral PID Value for turret position control.

See Also:

• Constant Field Values

KD

public static final double KD

Derivative PID Value for turret position control.

See Also:

• Constant Field Values

KS

public static final double KS

Static Characterization Value for overcoming friction.

See Also:

• Constant Field Values

KV

public static final double KV

Velocity Characterization Value

See Also:

• Constant Field Values

KA

public static final double KA

Acceleration Characterization Value

See Also:

• Constant Field Values

MMCVelocity

public static final double MMCVelocity

See Also:

• Constant Field Values

MMAcceleration

public static final double MMAcceleration

See Also:

• Constant Field Values

MMJerk

public static final double MMJerk

See Also:

• Constant Field Values

testAngle

public static final Angle testAngle

turretTolerence

public static final double turretTolerence

See Also:

• Constant Field Values

canCoder1Invert

public static final com.ctre.phoenix6.signals.SensorDirectionValue canCoder1Invert

canCoder2Invert

public static final com.ctre.phoenix6.signals.SensorDirectionValue canCoder2Invert

turretCANCoderDiscontinuity

public static final double turretCANCoderDiscontinuity

See Also:

• Constant Field Values

Constructor Details

Turret

public Turret()