Package frc.robot

Class Constants.ElevatorConstants

java.lang.Object
frc.robot.Constants.ElevatorConstants
Enclosing class:
Constants
public static class Constants.ElevatorConstants extends Object
Constants used to configure the elevator.

  • Field Details

    • RIGHT_MOTOR_ID

      public static final int RIGHT_MOTOR_ID
      CAN ID for the right elevator motor.
      See Also:

    • LEFT_MOTOR_ID

      public static final int LEFT_MOTOR_ID
      CAN ID for the left elevator motor.
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    • KP

      public static final double KP
      Elevator kP.
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    • KI

      public static final double KI
      Elevator kI.
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    • KD

      public static final double KD
      Elevator kD.
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    • KS

      public static final double KS
      Elevator kS.
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    • KG

      public static final double KG
      Elevator kG.
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    • KV

      public static final double KV
      Elevator kV.
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    • KMIN_OUTPUT

      public static final double KMIN_OUTPUT
      Elevator kMinOutput as a percentage.
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    • KMAX_OUTPUT

      public static final double KMAX_OUTPUT
      Elevator kMaxOutput as a percentage.
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    • MAX_VELOCITY

      public static final double MAX_VELOCITY
      Maximum velocity in m/s.
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    • MAX_ACCELERATION

      public static final double MAX_ACCELERATION
      Maximum acceleration in m/s^2.
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    • MAX_POSITION

      public static final double MAX_POSITION
      Maximum position in meters.
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    • MIN_POSITION

      public static final double MIN_POSITION
      Minimum position in meters.
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    • MAX_LOWERED_POSITION

      public static final double MAX_LOWERED_POSITION
      This is the maximum position for the elevator to be considered lowered, in meters.
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    • POSITION_CONVERSION_FACTOR

      public static final double POSITION_CONVERSION_FACTOR
      Conversion factor from rotation to meters. 3.81cm diameter spool, 16:1 gear ratio
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    • VELOCITY_CONVERSION_FACTOR

      public static final double VELOCITY_CONVERSION_FACTOR
      Conversion factor from rotation to meters per second.
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    • ZERO_OFFSET

      public static final double ZERO_OFFSET
      Zero offset, meters.
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    • CURRENT_LIMIT

      public static final int CURRENT_LIMIT
      Current limit in amps.
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    • TOLERANCE

      public static final double TOLERANCE
      Tolerance for the target to be considered reached in meters.
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  • Constructor Details

    • ElevatorConstants

      public ElevatorConstants()