Package frc.robot

Class Constants.SwerveConstants

java.lang.Object

frc.robot.Constants.SwerveConstants

Enclosing class:

Constants

public static class Constants.SwerveConstants
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final double	BRAKE_TIMER_DURATION	Time to brake the chassis for after the robot is disabled, in seconds
static final swervelib.math.Matter	DRIVEBASE	The total mass of the drivetrain, eboard, and associated components.
static final double	FAST_SPEED_INCREMENT
static final double	FAST_TURN_TIME
static final double	LOOP_TIME	This is the time it takes for the PID to update in seconds, 20ms + 110ms sprk max velocity lag
static final double	MAX_VELOCITY_METER_PER_SEC
static final double	PRECISE_INCREMENT
static final double	REGULAR_SPEED
static final double	ROBOT_MASS	The total mass of the robot, in kilograms.
static final double	SLOW_SPEED_DECREMENT
static final double	THE_NUMBER_THREE_TWO
static final double	TURN_TO_ANGLE_RANGE_FOR_END
static final double	TURN_TO_TAG_RANGE_FOR_END

Constructor Summary

Constructors

Constructor	Description
SwerveConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

LOOP_TIME

public static final double LOOP_TIME

This is the time it takes for the PID to update in seconds, 20ms + 110ms sprk max velocity lag

See Also:

• Constant Field Values

ROBOT_MASS

public static final double ROBOT_MASS

The total mass of the robot, in kilograms. Includes Batteries and bumper weight

DRIVEBASE

public static final swervelib.math.Matter DRIVEBASE

The total mass of the drivetrain, eboard, and associated components. Position reflects the aproximate center of mass, relative to the floor, in meters

BRAKE_TIMER_DURATION

public static final double BRAKE_TIMER_DURATION

Time to brake the chassis for after the robot is disabled, in seconds

See Also:

• Constant Field Values

MAX_VELOCITY_METER_PER_SEC

public static final double MAX_VELOCITY_METER_PER_SEC

SLOW_SPEED_DECREMENT

public static final double SLOW_SPEED_DECREMENT

See Also:

• Constant Field Values

THE_NUMBER_THREE_TWO

public static final double THE_NUMBER_THREE_TWO

See Also:

• Constant Field Values

REGULAR_SPEED

public static final double REGULAR_SPEED

See Also:

• Constant Field Values

FAST_SPEED_INCREMENT

public static final double FAST_SPEED_INCREMENT

See Also:

• Constant Field Values

PRECISE_INCREMENT

public static final double PRECISE_INCREMENT

See Also:

• Constant Field Values

TURN_TO_TAG_RANGE_FOR_END

public static final double TURN_TO_TAG_RANGE_FOR_END

See Also:

• Constant Field Values

TURN_TO_ANGLE_RANGE_FOR_END

public static final double TURN_TO_ANGLE_RANGE_FOR_END

See Also:

• Constant Field Values

FAST_TURN_TIME

public static final double FAST_TURN_TIME

See Also:

• Constant Field Values

Constructor Details

SwerveConstants

public SwerveConstants()