Package frc.robot

Class Constants.EndEffectorConstants

java.lang.Object
frc.robot.Constants.EndEffectorConstants
Enclosing class:
Constants
public static class Constants.EndEffectorConstants extends Object
Constants used to configure the End Effector.

  • Field Details

    • GEAR_RATIO_END_EFFECTOR_MOTOR

      public static final double GEAR_RATIO_END_EFFECTOR_MOTOR
      End Effector's motor gear ratio.
      See Also:

    • MAX_CURRENT_LIMIT

      public static final int MAX_CURRENT_LIMIT
      Neo's current limit.
      See Also:

    • CAN_ID_END_EFFECTOR

      public static final int CAN_ID_END_EFFECTOR
      End Effector's Spark Max CAN ID.
      See Also:

    • POSITION_CONVERSION_FACTOR

      public static final double POSITION_CONVERSION_FACTOR
      See Also:

    • CLOSED_LOOP_CONFIG

      public static final ClosedLoopConfig CLOSED_LOOP_CONFIG
      PID config for the motor controller.

    • CORAL_MAIN_INTAKE_SPEED

      public static final double CORAL_MAIN_INTAKE_SPEED
      Intake motor speed for coral. (to be changed and edited later)
      See Also:

    • CORAL_SECONDARY_INTAKE_SPEED

      public static final double CORAL_SECONDARY_INTAKE_SPEED
      Intake motor speed for coral after hitting main beam break. (to be changed and edited later)
      See Also:

    • CORAL_EMERGENCY_MODE_INTAKE_SPEED

      public static final double CORAL_EMERGENCY_MODE_INTAKE_SPEED
      Intake motor speed for coral in emergency mode
      See Also:

    • CORAL_BACKUP_SPEED

      public static final double CORAL_BACKUP_SPEED
      Intake motor speed for the coral to be behind secondary beam break for L4 scoring
      See Also:

    • CORAL_EMERGENCY_BACKUP_SPEED

      public static final double CORAL_EMERGENCY_BACKUP_SPEED
      Intake motor speed for backing up coral when in emergency mode
      See Also:

    • CORAL_OUTAKE_SPEED

      public static final double CORAL_OUTAKE_SPEED
      Outtake motor speed for coral. (to be changed and edited later)
      See Also:

    • CORAL_EMERGENCY_OUTTAKE_TIMER

      public static final double CORAL_EMERGENCY_OUTTAKE_TIMER
      Outtake timer for emergency coral outtake.
      See Also:

    • CORAL_SINGLE_BEAM_ADJUSTER_OUTTAKE_WAITTIME

      public static final double CORAL_SINGLE_BEAM_ADJUSTER_OUTTAKE_WAITTIME
      When using single beam break commands offsets time when it will check for beam break.
      See Also:

    • ALGAE_INTAKE_SPEED

      public static final double ALGAE_INTAKE_SPEED
      Intake motor speed for algae. (to be changed and edited later)
      See Also:

    • ALGAE_OUTAKE_SPEED

      public static final double ALGAE_OUTAKE_SPEED
      Outtake motor speed for algae. (to be changed and edited later)
      See Also:

    • ALGAE_HOLD_SPEED

      public static final double ALGAE_HOLD_SPEED
      Speed that the motor will use to keep force on the Algae while it is being held.
      See Also:

    • CORAL_OUTTAKE_L4_WAIT

      public static final double CORAL_OUTTAKE_L4_WAIT
      Coral wait after outtake.
      See Also:

    • OUTTAKE_WAIT_TIME

      public static final double OUTTAKE_WAIT_TIME
      Time (in seconds) that the motors run after beam break detects no coral after using the outtake command
      See Also:

    • ALGAE_OUTTAKE_RUN_TIME

      public static final double ALGAE_OUTTAKE_RUN_TIME
      Time (in seconds) that the motors run after algae outake is called to eject algae.
      See Also:

    • ALGAE_HOLD_TIME

      public static final double ALGAE_HOLD_TIME
      Time algae is being held (in seconds) after intake
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    • MAIN_BEAM_BREAK_DIO

      public static final int MAIN_BEAM_BREAK_DIO
      DIO pin for the main beam break.
      See Also:

    • SECONDARY_BEAM_BREAK_DIO

      public static final int SECONDARY_BEAM_BREAK_DIO
      DIO pin for the secondary beam break.
      See Also:

    • LIMIT_SWITCH_DIO

      public static final int LIMIT_SWITCH_DIO
      DIO pin for limit switch.
      See Also:

  • Constructor Details

    • EndEffectorConstants

      public EndEffectorConstants()