Package frc.robot

Class Constants.DrivetrainConstants

java.lang.Object

frc.robot.Constants.DrivetrainConstants

Enclosing class:

Constants

public static class Constants.DrivetrainConstants
extends Object

Constants used by the Drivetrain.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	Constants.DrivetrainConstants.AngularVelocityCompensation	Angular velocity skew correction configuration.
static final class	Constants.DrivetrainConstants.EncoderAutoSynchronization	Configure auto synchronization for encoders during a match.
static final class	Constants.DrivetrainConstants.Pathfinding	Configure pathfinding to poses.
static final class	Constants.DrivetrainConstants.SysId	SysId configuration.

Field Summary

Fields

Modifier and Type	Field	Description
static final File	CONFIG_DIR	Directory that contains the YAGSL configuration.
static final boolean	ENABLE_COSINE_COMPENSATION	Enables cosine compensation.
static final boolean	ENABLE_HEADING_CORRECTION	Enables heading correction.
static final double	MAX_SPEED	Maximum speed of the robot in meters per second.
static final Pose2d	STARTING_POSITION	Starting pose.
static final SwerveDriveTelemetry.TelemetryVerbosity	TELEMETRY_VERBOSITY_DEBUG	YAGSL telemetry verbosity when in debug mode.
static final SwerveDriveTelemetry.TelemetryVerbosity	TELEMETRY_VERBOSITY_NORMAL	YAGSL telemetry verbosity when in normal mode.
static final double	TRANSLATION_SCALE	Translation axis scaling.

Constructor Summary

Constructors

Constructor	Description
DrivetrainConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

MAX_SPEED

public static final double MAX_SPEED

Maximum speed of the robot in meters per second.

CONFIG_DIR

public static final File CONFIG_DIR

Directory that contains the YAGSL configuration.

TELEMETRY_VERBOSITY_DEBUG

public static final SwerveDriveTelemetry.TelemetryVerbosity TELEMETRY_VERBOSITY_DEBUG

YAGSL telemetry verbosity when in debug mode.

TELEMETRY_VERBOSITY_NORMAL

public static final SwerveDriveTelemetry.TelemetryVerbosity TELEMETRY_VERBOSITY_NORMAL

YAGSL telemetry verbosity when in normal mode.

TRANSLATION_SCALE

public static final double TRANSLATION_SCALE

Translation axis scaling. Changes the overall maximum speed of the drivetrain.

See Also:

• Constant Field Values

STARTING_POSITION

public static final Pose2d STARTING_POSITION

Starting pose.

ENABLE_HEADING_CORRECTION

public static final boolean ENABLE_HEADING_CORRECTION

Enables heading correction. Should only be used while controlling the robot via angle.

See Also:

• Constant Field Values

ENABLE_COSINE_COMPENSATION

public static final boolean ENABLE_COSINE_COMPENSATION

Enables cosine compensation.

See Also:

• Constant Field Values

Constructor Details

DrivetrainConstants

public DrivetrainConstants()