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 Summary

Fields

Modifier and Type	Field	Description
static final int	CURRENT_LIMIT	Current limit in amps.
static final double	KD	Pivot kD.
static final double	KG	Pivot kG.
static final double	KI	Pivot kI.
static final double	KMAX_OUTPUT	Pivot kMaxOutput.
static final double	KMIN_OUTPUT	Pivot kMinOutput.
static final double	KP	Pivot kP.
static final double	KS	Pivot kS.
static final double	KV	Pivot kV.
static final double	MAX_ACCELERATION	Maximum acceleration in degrees/s^2.
static final double	MAX_POSITION	Maximum position in degrees.
static final double	MAX_VELOCITY	Maximum velocity in degrees/s.
static final double	MIN_POSITION	Minimum position when the elevator is not lowered, in degrees.
static final int	MOTOR_ID	Motor CAN ID.
static final double	POSITION_CONVERSION_FACTOR	Conversion factor from rotation to degrees.
static final double	SAFE_MIN_POSITION	Minimum safe position while the elevator is below Constants.ElevatorConstants.HEAD_CLEAR_POSITION, in degrees.
static final double	TOLERANCE	Tolerance for the target to be considered reached in degrees.
static final double	VELOCITY_CONVERSION_FACTOR	Conversion factor from rotation to degrees per second.
static final double	ZERO_OFFSET	Zero offset, in rotations, because reasons.

Constructor Summary

Constructors

Constructor	Description
PivotConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

MOTOR_ID

public static final int MOTOR_ID

Motor CAN ID.

See Also:

• Constant Field Values

KP

public static final double KP

Pivot kP.

See Also:

• Constant Field Values

KI

public static final double KI

Pivot kI.

See Also:

• Constant Field Values

KD

public static final double KD

Pivot kD.

See Also:

• Constant Field Values

KS

public static final double KS

Pivot kS.

See Also:

• Constant Field Values

KG

public static final double KG

Pivot kG.

See Also:

• Constant Field Values

KV

public static final double KV

Pivot kV.

See Also:

• Constant Field Values

KMIN_OUTPUT

public static final double KMIN_OUTPUT

Pivot kMinOutput.

See Also:

• Constant Field Values

KMAX_OUTPUT

public static final double KMAX_OUTPUT

Pivot kMaxOutput.

See Also:

• Constant Field Values

MAX_VELOCITY

public static final double MAX_VELOCITY

Maximum velocity in degrees/s.

See Also:

• Constant Field Values

MAX_ACCELERATION

public static final double MAX_ACCELERATION

Maximum acceleration in degrees/s^2.

See Also:

• Constant Field Values

MAX_POSITION

public static final double MAX_POSITION

Maximum position in degrees.

See Also:

• Constant Field Values

MIN_POSITION

public static final double MIN_POSITION

Minimum position when the elevator is not lowered, in degrees.

See Also:

• Constant Field Values

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:

• Constant Field Values

POSITION_CONVERSION_FACTOR

public static final double POSITION_CONVERSION_FACTOR

Conversion factor from rotation to degrees.

See Also:

• Constant Field Values

VELOCITY_CONVERSION_FACTOR

public static final double VELOCITY_CONVERSION_FACTOR

Conversion factor from rotation to degrees per second.

See Also:

• Constant Field Values

ZERO_OFFSET

public static final double ZERO_OFFSET

Zero offset, in rotations, because reasons.

See Also:

• Constant Field Values

CURRENT_LIMIT

public static final int CURRENT_LIMIT

Current limit in amps.

See Also:

• Constant Field Values

TOLERANCE

public static final double TOLERANCE

Tolerance for the target to be considered reached in degrees.

See Also:

• Constant Field Values

Constructor Details

PivotConstants

public PivotConstants()