Package frc.robot

Class Constants.PivotConstants

java.lang.Object
frc.robot.Constants.PivotConstants
Enclosing class:
Constants
public static class Constants.PivotConstants extends Object
Constants used to configure the pivot.

  • Field Details

    • LEFT_MOTOR_ID

      public static final int LEFT_MOTOR_ID
      Left motor CAN ID.
      See Also:

    • RIGHT_MOTOR_ID

      public static final int RIGHT_MOTOR_ID
      Right motor CAN ID.
      See Also:

    • KP

      public static final double KP
      Pivot kP.
      See Also:

    • KI

      public static final double KI
      Pivot kI.
      See Also:

    • KD

      public static final double KD
      Pivot kD.
      See Also:

    • KS

      public static final double KS
      Pivot kS.
      See Also:

    • KG

      public static final double KG
      Pivot kG.
      See Also:

    • KV

      public static final double KV
      Pivot kV.
      See Also:

    • KMIN_OUTPUT

      public static final double KMIN_OUTPUT
      Pivot kMinOutput.
      See Also:

    • KMAX_OUTPUT

      public static final double KMAX_OUTPUT
      Pivot kMaxOutput.
      See Also:

    • MAX_VELOCITY

      public static final double MAX_VELOCITY
      Maximum velocity in degrees/s.
      See Also:

    • MAX_ACCELERATION

      public static final double MAX_ACCELERATION
      Maximum acceleration in degrees/s^2.
      See Also:

    • MAX_POSITION

      public static final double MAX_POSITION
      Maximum position in degrees.
      See Also:

    • MIN_POSITION

      public static final double MIN_POSITION
      Minimum position when the elevator is not lowered, in degrees.
      See Also:

    • SAFE_MIN_POSITION

      public static final double SAFE_MIN_POSITION
      Minimum safe position while the elevator is below Constants.ElevatorConstants.HEAD_CLEAR_POSITION, in degrees.
      See Also:

    • POSITION_CONVERSION_FACTOR

      public static final double POSITION_CONVERSION_FACTOR
      Conversion factor from rotation to degrees.
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    • VELOCITY_CONVERSION_FACTOR

      public static final double VELOCITY_CONVERSION_FACTOR
      Conversion factor from rotation to degrees per second.
      See Also:

    • ZERO_OFFSET

      public static final double ZERO_OFFSET
      Zero offset, in rotations, because reasons.

    • CURRENT_LIMIT

      public static final int CURRENT_LIMIT
      Current limit in amps.
      See Also:

    • TOLERANCE

      public static final double TOLERANCE
      Tolerance for the target to be considered reached in degrees.
      See Also:

  • Constructor Details

    • PivotConstants

      public PivotConstants()