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 Summary

Fields

Modifier and Type	Field	Description
static final int	angleCurrentLimit
static final int	angleCurrentLowerLimit
static final double	angleCurrentLowerTimeThreshold
static final boolean	angleEnableCurrentLimit
static final double	angleGearRatio
static final double	angleKD
static final double	angleKI
static final double	angleKP
static final com.ctre.phoenix6.signals.InvertedValue	angleMotorInvert
static final com.ctre.phoenix6.signals.NeutralModeValue	angleNeutralMode
static final double	autoMaxSpeed
static final double	backTiltLimit
static final Distance	bumperFront
static final Distance	bumperRight
static final com.ctre.phoenix6.signals.SensorDirectionValue	cancoderInvert
static final double	closedLoopRamp
static final int	driveCurrentLimit
static final int	driveCurrentLowerLimit
static final double	driveCurrentLowerTimeThreshold
static final boolean	driveEnableCurrentLimit
static final double	driveGearRatio
static final double	driveKA
static final double	driveKD
static final double	driveKF
static final double	driveKI
static final double	driveKP
static final double	driveKS
static final double	driveKV
static final com.ctre.phoenix6.signals.InvertedValue	driveMotorInvert
static final com.ctre.phoenix6.signals.NeutralModeValue	driveNeutralMode
static final double	forwardLimit
static final double	forwardTiltLimit
static final boolean	invertGyro
static final boolean	isCanviore	If true, motors and absolute encoders are on canivore loop.
static final double	leftTiltLimit
static final double	maxAngularVelocity	Radians per Second
static final double	maxSpeed	Meters per Second
static final ModuleConstants[]	modulesConstants
static final com.studica.frc.AHRS.NavXComType	navXID
static final double	odometryFrequency
static final double	openLoopRamp
static final double	rightTiltLimit
static final double	skidLimit
static final SwerveDriveKinematics	swerveKinematics
static final Translation2d[]	swerveTranslations
static final double	trackWidth
static final double	wheelBase
static final Distance	wheelCircumference
static final Distance	wheelDiameter
static final Distance	wheelRadius

Constructor Summary

Constructors

Constructor	Description
Swerve()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

isCanviore

public static final boolean isCanviore

If true, motors and absolute encoders are on canivore loop. Otherwise on rio.

See Also:

• Constant Field Values

navXID

public static final com.studica.frc.AHRS.NavXComType navXID

invertGyro

public static final boolean invertGyro

See Also:

• Constant Field Values

trackWidth

public static final double trackWidth

wheelBase

public static final double wheelBase

wheelRadius

public static final Distance wheelRadius

wheelDiameter

public static final Distance wheelDiameter

wheelCircumference

public static final Distance wheelCircumference

bumperFront

public static final Distance bumperFront

bumperRight

public static final Distance bumperRight

swerveTranslations

public static final Translation2d[] swerveTranslations

swerveKinematics

public static final SwerveDriveKinematics swerveKinematics

driveGearRatio

public static final double driveGearRatio

See Also:

• Constant Field Values

angleGearRatio

public static final double angleGearRatio

See Also:

• Constant Field Values

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:

• Constant Field Values

angleCurrentLowerLimit

public static final int angleCurrentLowerLimit

See Also:

• Constant Field Values

angleCurrentLowerTimeThreshold

public static final double angleCurrentLowerTimeThreshold

See Also:

• Constant Field Values

angleEnableCurrentLimit

public static final boolean angleEnableCurrentLimit

See Also:

• Constant Field Values

driveCurrentLimit

public static final int driveCurrentLimit

See Also:

• Constant Field Values

driveCurrentLowerLimit

public static final int driveCurrentLowerLimit

See Also:

• Constant Field Values

driveCurrentLowerTimeThreshold

public static final double driveCurrentLowerTimeThreshold

See Also:

• Constant Field Values

driveEnableCurrentLimit

public static final boolean driveEnableCurrentLimit

See Also:

• Constant Field Values

openLoopRamp

public static final double openLoopRamp

See Also:

• Constant Field Values

closedLoopRamp

public static final double closedLoopRamp

See Also:

• Constant Field Values

angleKP

public static final double angleKP

See Also:

• Constant Field Values

angleKI

public static final double angleKI

See Also:

• Constant Field Values

angleKD

public static final double angleKD

See Also:

• Constant Field Values

driveKP

public static final double driveKP

See Also:

• Constant Field Values

driveKI

public static final double driveKI

See Also:

• Constant Field Values

driveKD

public static final double driveKD

See Also:

• Constant Field Values

driveKF

public static final double driveKF

See Also:

• Constant Field Values

driveKS

public static final double driveKS

See Also:

• Constant Field Values

driveKV

public static final double driveKV

See Also:

• Constant Field Values

driveKA

public static final double driveKA

See Also:

• Constant Field Values

maxSpeed

public static final double maxSpeed

Meters per Second

See Also:

• Constant Field Values

autoMaxSpeed

public static final double autoMaxSpeed

See Also:

• Constant Field Values

maxAngularVelocity

public static final double maxAngularVelocity

Radians per Second

See Also:

• Constant Field Values

angleNeutralMode

public static final com.ctre.phoenix6.signals.NeutralModeValue angleNeutralMode

driveNeutralMode

public static final com.ctre.phoenix6.signals.NeutralModeValue driveNeutralMode

odometryFrequency

public static final double odometryFrequency

See Also:

• Constant Field Values

forwardLimit

public static final double forwardLimit

See Also:

• Constant Field Values

forwardTiltLimit

public static final double forwardTiltLimit

See Also:

• Constant Field Values

leftTiltLimit

public static final double leftTiltLimit

See Also:

• Constant Field Values

rightTiltLimit

public static final double rightTiltLimit

See Also:

• Constant Field Values

backTiltLimit

public static final double backTiltLimit

See Also:

• Constant Field Values

skidLimit

public static final double skidLimit

See Also:

• Constant Field Values

modulesConstants

public static final ModuleConstants[] modulesConstants

Constructor Details

Swerve

public Swerve()