Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.Constants.ClimberConstants

Modifier and Type	Constant Field	Value
public static final double	ABSOLUTE_ENCODER_OFFSET	0.02
public static final double	CLIMBER_GEAR_RATIO	0.0625
public static final double	CLIMBER_JUST_SPOOL_RATIO	5.0
public static final int	CLIMBER_MOTOR_CAN_ID	51
public static final double	CLIMBER_RAISED_POSITION	0.34
public static final double	LOWER_CLIMBER_SPEED	-0.7
public static final double	RAISE_CLIMBER_SPEED	1.0
public static final double	SERVO_DISABLED_ANGLE	86.0
public static final double	SERVO_ENABLED_ANGLE	180.0
public static final int	SERVO_PWM_PORT	0

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	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	52
public static final double	MAX_ACCELERATION	2.5
public static final double	MAX_LOWERED_POSITION	0.13
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.EndEffectorConstants

Modifier and Type	Constant Field	Value
public static final double	ALGAE_HOLD_SPEED	-0.1
public static final double	ALGAE_HOLD_TIME	20.0
public static final double	ALGAE_INTAKE_SPEED	-0.5
public static final double	ALGAE_OUTAKE_SPEED	1.0
public static final double	ALGAE_OUTTAKE_RUN_TIME	0.3
public static final int	CAN_ID_END_EFFECTOR	41
public static final double	CORAL_BACKUP_SPEED	-0.1
public static final double	CORAL_EMERGENCY_BACKUP_SPEED	-0.05
public static final double	CORAL_EMERGENCY_MODE_INTAKE_SPEED	0.1
public static final double	CORAL_EMERGENCY_OUTTAKE_TIMER	0.75
public static final double	CORAL_MAIN_INTAKE_SPEED	0.5
public static final double	CORAL_OUTAKE_SPEED	0.5
public static final double	CORAL_OUTTAKE_L4_WAIT	0.1
public static final double	CORAL_SECONDARY_INTAKE_SPEED	0.05
public static final double	CORAL_SINGLE_BEAM_ADJUSTER_OUTTAKE_WAITTIME	0.1
public static final double	GEAR_RATIO_END_EFFECTOR_MOTOR	2.5
public static final int	LIMIT_SWITCH_DIO	4
public static final int	MAIN_BEAM_BREAK_DIO	1
public static final int	MAX_CURRENT_LIMIT	40
public static final double	OUTTAKE_WAIT_TIME	0.2
public static final double	POSITION_CONVERSION_FACTOR	900.0
public static final int	SECONDARY_BEAM_BREAK_DIO	0

frc.robot.Constants.FieldConstants.Processor

Modifier and Type	Constant Field	Value
public static final int	TAG_ID	16

frc.robot.Constants.LoggingConstants

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

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.RampConstants

Modifier and Type	Constant Field	Value
public static final double	POSITION_CONVERSION_FACTOR	6.0
public static final double	RAMP_DEPLOY_POSITION	0.0
public static final int	RAMP_MOTOR_CAN_ID	32
public static final int	RAMP_MOTOR_CURRENT_LIMIT	20
public static final double	RAMP_MOTOR_GEAR_RATIO	0.016666666666666666
public static final double	RAMP_STOW_POSITION	108.0

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.Constants.WristConstants

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_ALGAE_POSITION_WITH_ELEVATOR	45.0
public static final double	MAX_ALGAE_POSITION_WITHOUT_ELEVATOR	95.0
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_MAX_POSITION	130.0
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.VersionConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2025-12-09 13:10:51 EST"
public static final long	BUILD_UNIX_TIME	1765303851138L
public static final int	DIRTY	0
public static final String	GIT_BRANCH	"main"
public static final String	GIT_DATE	"2025-12-09 13:10:19 EST"
public static final int	GIT_REVISION	1
public static final String	GIT_SHA	"25a559af03c0422271d34b4a4a1a5d759999877b"
public static final String	MAVEN_GROUP	""
public static final String	MAVEN_NAME	"2025Robot"
public static final String	VERSION	"unspecified"