Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.Constants

Modifier and Type	Constant Field	Value
public static final int	BRAKE_TOGGLE_BUTTON_DIO	7
public static final double	DISABLED_BATTERY_WARNING_VOLTAGE	12.2
public static final double	ENABLED_BATTERY_WARNING_VOLTAGE	9.9
public static final int	NUMBER_OF_MOTORS	10
public static final double	PODIUM_DISTANCE	5.0

frc.robot.Constants.ArmConstants

Modifier and Type	Constant Field	Value
public static final double	ABS_POSITION_CONVERSION_FACTOR	360.0
public static final double	ABS_VELOCITY_CONVERSION_FACTOR	6.0
public static final double	ARM_AT_TARGET_DEADBAND	1.5
public static final double	ARM_OFFSET	236.04
public static final double	ARM_VELOCITY_DEADBAND	0.75
public static final double	EXTENDED_KG	0.28
public static final double	EXTENDED_KS	0.17
public static final double	EXTENDED_KV	0.2
public static final double	FLOOR_PICKUP	3.75
public static final double	KD	0.0
public static final double	KI	0.0
public static final double	kMaxOutput	1.0
public static final double	kMinOutput	-1.0
public static final double	KP	0.028
public static final int	LEFT_MOTOR_ID	26
public static final int	MAX_AMPERAGE	40
public static final double	MAX_ANGLE	90.0
public static final double	MAX_MANNUAL_ARM_SPEED	45.0
public static final double	MIN_ABOVE_PASS_ANGLE	18.5
public static final double	MIN_ANGLE	2.5
public static final double	RETRACTED_KG	0.3
public static final double	RETRACTED_KS	0.17
public static final double	RETRACTED_KV	0.1
public static final int	RIGHT_MOTOR_ID	25
public static final double	SOURCE_ANGLE	64.5
public static final double	STOW_ANGLE	20.0

frc.robot.Constants.AutoConstants

Modifier and Type	Constant Field	Value
public static final double	LINEAR_AUTO_KD	0.0
public static final double	LINEAR_AUTO_KI	0.0
public static final double	LINEAR_AUTO_KP	5.7960566071
public static final double	MAX_MODULE_SPEED	15.0

frc.robot.Constants.ClimberConstants

Modifier and Type	Constant Field	Value
public static final double	BALANCE_KD	0.0
public static final double	BALANCE_KI	0.0
public static final double	BALANCE_KP	0.0
public static final double	CLIMB_HEIGHT	60.0
public static final double	CLIMB_RATE	0.6
public static final int	LEFT_CLIMBER_PORT	30
public static final double	MAX_ENCODER_VALUE	100.0
public static final int	RIGHT_CLIMBER_PORT	31

frc.robot.Constants.ElevatorConstants

Modifier and Type	Constant Field	Value
public static final double	ELEVATOR_AT_TARGET_DEADBAND	2.0
public static final double	KD	0.0
public static final double	KG	0.0
public static final double	KI	0.0
public static final boolean	KILL_IT_ALL	false
public static final double	kMaxOutput	0.6
public static final double	kMinOutput	-0.35
public static final double	KP	0.3
public static final double	KS	0.0
public static final double	KV	0.0
public static final int	LEFT_MOTOR_ID	27
public static final int	MAX_AMPERAGE	40
public static final double	MAX_HEIGHT	18.6
public static final double	MAX_MANUAL_SPEED	20.0
public static final double	MIN_ABOVE_PASS_HEIGHT	18.0
public static final double	MIN_HEIGHT	1.0
public static final int	RIGHT_MOTOR_ID	28

frc.robot.Constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final double	ALIGMNMENT_SPEED	0.2
public static final double	FEEDER_SPEED	0.25
public static final double	INTAKE_SPEED	0.75
public static final int	MOTOR_CAN_ID	21
public static final int	NOTE_ALIGNMENT_SENSOR_DIO	6
public static final int	NOTE_SENSOR_DIO	9
public static final double	OUTAKE_SPEED	-0.25

frc.robot.Constants.OperatorConstants

Modifier and Type	Constant Field	Value
public static final int	DRIVER_CONTROLLER_PORT	0
public static final double	DRIVER_JOYSTICK_DEADBAND	0.075
public static final int	OPERATOR_CONTROLLER_PORT	1
public static final double	OPERATOR_JOYSTICK_DEADBAND	0.125
public static final double	ROTATION_RATE	2.0

frc.robot.Constants.ShooterConstants

Modifier and Type	Constant Field	Value
public static final double	BOTTOM_kD	0.0
public static final double	BOTTOM_kF	0.004
public static final double	BOTTOM_kI	0.0
public static final double	BOTTOM_kMaxOutput	1.0
public static final double	BOTTOM_kMinOutput	-1.0
public static final double	BOTTOM_kP	2.6E-4
public static final int	MOTOR_BOTTOM_CAN_ID	23
public static final int	MOTOR_TOP_CAN_ID	22
public static final double	TOP_kD	0.0
public static final double	TOP_kF	0.004
public static final double	TOP_kI	0.0
public static final double	TOP_kMaxOutput	1.0
public static final double	TOP_kMinOutput	-1.0
public static final double	TOP_kP	2.6E-4
public static final double	VELOCITY_MAXIMUM	2.0
public static final double	VELOCITY_MINIMUM	0.5

frc.robot.Constants.ShootingConstants

Modifier and Type	Constant Field	Value
public static final int	AUTO_SHOOT_SPEED	6000
public static final int	VARIABLE_DISTANCE_SHOT	6750

frc.robot.Constants.SwerveConstants

Modifier and Type	Constant Field	Value
public static final double	BRAKE_TIMER_DURATION	10.0
public static final double	FAST_SPEED_INCREMENT	0.2
public static final double	FAST_TURN_TIME	2.0
public static final double	LOOP_TIME	0.13
public static final double	PRECISE_INCREMENT	0.1
public static final double	REGULAR_SPEED	0.8
public static final double	SLOW_SPEED_DECREMENT	0.3
public static final double	THE_NUMBER_THREE_TWO	7.0
public static final double	TURN_TO_ANGLE_RANGE_FOR_END	2.0
public static final double	TURN_TO_TAG_RANGE_FOR_END	1.0

frc.robot.Constants.VisionConstants

Modifier and Type	Constant Field	Value
public static final double	MAX_DETECTION_RANGE	5.5