Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.Constants.DashboardConstants

Modifier and Type	Constant Field	Value
public static final String	AUTO_TAB_NAME	"Autonomous"
public static final String	TELEOP_TAB_NAME	"Teleoperated"

frc.robot.Constants.DrivetrainConstants

Modifier and Type	Constant Field	Value
public static final boolean	ENABLE_COSINE_COMPENSATION	false
public static final boolean	ENABLE_HEADING_CORRECTION	false
public static final double	TRANSLATION_SCALE_FAST	1.0
public static final double	TRANSLATION_SCALE_NORMAL	0.8
public static final double	TRANSLATION_SCALE_SLIDE	0.3
public static final double	TRANSLATION_SCALE_SLOW	0.3

frc.robot.Constants.DrivetrainConstants.AngularVelocityCompensation

Modifier and Type	Constant Field	Value
public static final double	ANGULAR_VELOCITY_COEFFICIENT	0.1
public static final boolean	USE_IN_AUTO	true
public static final boolean	USE_IN_TELEOP	true

frc.robot.Constants.DrivetrainConstants.EncoderAutoSynchronization

Modifier and Type	Constant Field	Value
public static final double	DEADBAND	1.0
public static final boolean	ENABLED	false

frc.robot.Constants.DrivetrainConstants.SysId

Modifier and Type	Constant Field	Value
public static final double	DELAY	3.0
public static final double	DYNAMIC_TIMEOUT	3.0
public static final double	MAX_VOLTS	12.0
public static final double	QUASI_TIMEOUT	5.0
public static final boolean	TEST_WITH_SPINNING	false

frc.robot.Constants.ElevatorConstants

Modifier and Type	Constant Field	Value
public static final int	CURRENT_LIMIT	40
public static final double	HEAD_CLEAR_POSITION	0.5
public static final double	KD	1.0
public static final double	KG	0.25
public static final double	KI	0.0
public static final double	KMAX_OUTPUT	1.0
public static final double	KMIN_OUTPUT	-1.0
public static final double	KP	1.35
public static final double	KS	0.35
public static final double	KV	6.5
public static final int	LEFT_MOTOR_ID	53
public static final double	MAX_ACCELERATION	2.5
public static final double	MAX_POSITION	1.44
public static final double	MAX_VELOCITY	2.0
public static final double	MIN_POSITION	0.0
public static final double	POSITION_CONVERSION_FACTOR	0.01757469244288225
public static final int	RIGHT_MOTOR_ID	22
public static final double	TOLERANCE	0.02
public static final double	VELOCITY_CONVERSION_FACTOR	2.9291154071470416E-4
public static final double	ZERO_OFFSET	0.0

frc.robot.Constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final double	ALIGMNMENT_SPEED	0.2
public static final int	CURRENT_LIMIT	40
public static final double	FEEDER_SPEED	0.25
public static final double	INTAKE_SPEED	0.75
public static final int	MOTOR_ID	21
public static final int	NOTE_ALIGNMENT_SENSOR_DIO	6
public static final int	NOTE_SENSOR_DIO	9
public static final double	OUTTAKE_SPEED	-0.25

frc.robot.Constants.LoggingConstants

Modifier and Type	Constant Field	Value
public static final boolean	DEBUG_MODE	true

frc.robot.Constants.OperatorConstants

Modifier and Type	Constant Field	Value
public static final double	DEADBAND	0.1
public static final int	DRIVER_CONTROLLER_PORT	0
public static final int	OPERATOR_CONTROLLER_PORT	1

frc.robot.Constants.PivotConstants

Modifier and Type	Constant Field	Value
public static final int	CURRENT_LIMIT	40
public static final double	KD	0.0
public static final double	KG	0.3
public static final double	KI	0.0
public static final double	KMAX_OUTPUT	0.5
public static final double	KMIN_OUTPUT	-0.5
public static final double	KP	0.01
public static final double	KS	0.1
public static final double	KV	0.0
public static final double	MAX_ACCELERATION	200.0
public static final double	MAX_POSITION	145.0
public static final double	MAX_VELOCITY	200.0
public static final double	MIN_POSITION	-50.0
public static final int	MOTOR_ID	31
public static final double	POSITION_CONVERSION_FACTOR	7.475555555555554
public static final double	SAFE_MIN_POSITION	-40.0
public static final double	TOLERANCE	5.0
public static final double	VELOCITY_CONVERSION_FACTOR	0.12459259259259257
public static final double	ZERO_OFFSET	0.73

frc.robot.Constants.ShooterConstants

Modifier and Type	Constant Field	Value
public static final int	CURRENT_LIMIT	20
public static final double	KD	0.0
public static final double	KF	0.004
public static final double	KI	0.0
public static final double	KMAX_OUTPUT	1.0
public static final double	KMIN_OUTPUT	-1.0
public static final double	KP	2.6E-4
public static final int	MOTOR_ID_BOTTOM	23
public static final int	MOTOR_ID_TOP	25
public static final double	VELOCITY_TOLERANCE	0.0

frc.robot.Constants.VisionConstants

Modifier and Type	Constant Field	Value
public static final String	BACK_LIMELIGHT_NAME	"limelight-back"
public static final int	DISABLED_UPDATE_FREQUENCY	60
public static final boolean	ENABLE_VISION	true
public static final String	FRONT_LIMELIGHT_NAME	"limelight-front"

frc.robot.VersionConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2025-08-27 15:54:33 EDT"
public static final long	BUILD_UNIX_TIME	1756324473627L
public static final int	DIRTY	0
public static final String	GIT_BRANCH	"main"
public static final String	GIT_DATE	"2025-08-27 15:53:28 EDT"
public static final int	GIT_REVISION	1
public static final String	GIT_SHA	"5d00ff5018850f3fa1e7e78aa4e58aa508528e54"
public static final String	MAVEN_GROUP	""
public static final String	MAVEN_NAME	"2024Robot-Rewrite"
public static final String	VERSION	"unspecified"