Constant Field Values

Contents

• frc.robot.*

frc.robot.*

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 double	DRIVE_DEADBAND	0.1
public static final double	HEADING_kd	0.1
public static final double	HEADING_ki	0.0
public static final double	HEADING_kP	5.0
public static final double	MAX_SPEED_MULTIPLIER	0.5
public static final double	NORMAL_SPEED_MULTIPLIER	0.35
public static final double	ROTATIONAL_DEADBAND	0.1
public static final double	SLOW_SPEED_MULTIPLIER	0.25

frc.robot.Constants.HoodConstants

Modifier and Type	Constant Field	Value
public static final double	ACCELERATION	300.0
public static final double	CRUISE_VELOCITY	100.0
public static final int	HOOD_MOTOR_CAN_ID	23
public static final int	HOOT_ENCODER_CAN_ID	23
public static final double	KD	0.0
public static final double	KG	0.6
public static final double	KP	0.3
public static final double	KS	0.4
public static final double	KV	0.03
public static final double	RPS	100.0
public static final double	SENSOR_TO_MECHANISM_RATIO	0.430625
public static final double	STATOR_CURRENT_LIMIT	60.0
public static final boolean	STATOR_CURRENT_LIMIT_ENABLE	true
public static final double	SUPPLY_CURRENT_LIMIT	50.0
public static final boolean	SUPPLY_CURRENT_LIMIT_ENABLE	true
public static final double	SUPPLY_CURRENT_LOWER_LIMIT	30.0
public static final double	SUPPLY_CURRENT_LOWER_TIME	0.15

frc.robot.Constants.HopperConstants

Modifier and Type	Constant Field	Value
public static final int	BEAM_BREAK_DIO_PIN	0

frc.robot.Constants.HopperUptakeConstants

Modifier and Type	Constant Field	Value
public static final int	BIG_SPINNY_CAN_ID	33
public static final double	HOPPER_ACCELERATION	40.0
public static final boolean	HOPPER_ENABLE_STATOR_LIMIT	true
public static final boolean	HOPPER_ENABLE_SUPPLY_LIMIT	false
public static final double	HOPPER_GEAR_RATIO	4.0
public static final double	HOPPER_KD	0.01
public static final double	HOPPER_KI	0.0
public static final double	HOPPER_KP	0.22
public static final double	HOPPER_KS	0.25
public static final double	HOPPER_KV	0.115
public static final int	HOPPER_LOWER_CURRENT_LIMIT	40
public static final double	HOPPER_MAXIMUM_VELOCITY	20.0
public static final int	HOPPER_STATOR_CURRENT_LIMIT	40
public static final double	HOPPER_SUPPLY_CURRENT_LIMIT	70.0
public static final int	LITTLE_SPINNY_CAN_ID	32
public static final double	UPTAKE_ACCELERATION	160.0
public static final boolean	UPTAKE_ENABLE_STATOR_LIMIT	true
public static final boolean	UPTAKE_ENABLE_SUPPLY_LIMIT	false
public static final double	UPTAKE_GEAR_RATIO	1.0
public static final double	UPTAKE_KD	0.0
public static final double	UPTAKE_KI	0.0
public static final double	UPTAKE_KP	0.38
public static final double	UPTAKE_KS	0.29
public static final double	UPTAKE_KV	0.12
public static final int	UPTAKE_LOWER_CURRENT_LIMIT	40
public static final double	UPTAKE_MAXIMUM_VELOCITY	80.0
public static final int	UPTAKE_STATOR_CURRENT_LIMIT	60
public static final double	UPTAKE_SUPPLY_CURRENT_LIMIT	70.0

frc.robot.Constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final double	ACCELERATION	100.0
public static final double	GAIN_SCHEDULE_ERROR_THRESHOLD	0.5
public static final double	GEARBOX_RATIO	19.2
public static final int	GRABBER_CAN_ID	41
public static final double	GRABBER_STATOR_CURRENT_LIMIT	40.0
public static final double	GRABBER_SUPPLY_CURRENT_LIMIT	30.0
public static final double	GRABBER_SUPPLY_CURRENT_LOWER_LIMIT	20.0
public static final double	GRABBER_SUPPLY_CURRENT_LOWER_TIME	0.1
public static final double	INTAKE_KA	0.0
public static final double	INTAKE_KD	0.0
public static final double	INTAKE_KG	0.1
public static final double	INTAKE_KI	0.0
public static final double	INTAKE_KP	0.2
public static final double	INTAKE_KS	0.34
public static final double	INTAKE_KV	0.16
public static final double	INTAKE_START_SLOW_VOLTAGE	2.0
public static final double	INTAKE_START_VOLTAGE	4.5
public static final double	INTAKE_STOP_VOLTAGE	0.0
public static final double	MAXIMUM_VELOCITY	50.0
public static final double	NUDGE_SPEED	0.3
public static final double	OUTTAKE_VOLTAGE	-2.0
public static final double	SENSOR_TO_MECHANISM_RATIO	1.0
public static final int	SHOULDER_CAN_ID	40
public static final double	SHOULDER_DEPOT_DISTANCE	0.25
public static final int	SHOULDER_ENCODER_CAN_ID	40
public static final double	SHOULDER_MAXIMUM_DISTANCE	35.5
public static final double	SHOULDER_MINIMUM_DISTANCE	0.0
public static final double	SHOULDER_STATOR_CURRENT_LIMIT	20.0
public static final double	SHOULDER_STOW_OVER_BUMPER_DISTANCE	10.0
public static final double	SHOULDER_SUPPLY_CURRENT_LIMIT	40.0
public static final double	SHOULDER_SUPPLY_CURRENT_LOWER_LIMIT	20.0
public static final double	SHOULDER_SUPPLY_CURRENT_LOWER_TIME	0.15
public static final double	SHOULDER_TOLERANCE	0.1
public static final double	SLOW_ACCELERATION	100.0
public static final double	SLOW_MAXIMUM_VELOCITY	20.0

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.ShooterConstants

Modifier and Type	Constant Field	Value
public static final double	ACCELERATION	160.0
public static final boolean	ENABLE_STATOR_LIMIT	true
public static final boolean	ENABLE_SUPPLY_LIMIT	false
public static final int	FOLLOWER_CAN_ID	22
public static final double	KD_0	0.0
public static final double	KD_1	0.0
public static final double	KI_0	0.0
public static final double	KI_1	0.0
public static final double	KP_0	0.07
public static final double	KP_1	0.07
public static final double	KS_0	0.45
public static final double	KS_1	0.45
public static final double	KV_0	0.126
public static final double	KV_1	0.126
public static final int	LEADER_CAN_ID	21
public static final double	MAXIMUM_VELOCITY	80.0
public static final double	STATOR_CURRENT_LIMIT	40.0
public static final double	SUPPLY_CURRENT_LIMIT	60.0
public static final boolean	SUPPLY_CURRENT_LIMIT_ENABLE	true
public static final double	SUPPLY_CURRENT_LOWER_LIMIT	40.0
public static final double	SUPPLY_CURRENT_LOWER_TIME	0.1

frc.robot.Constants.ShootingConstants

Modifier and Type	Constant Field	Value
public static final double	LINREG_FLYWHEEL_A	0.0
public static final double	LINREG_FLYWHEEL_B	0.0
public static final double	LINREG_HOOD_ANGLE_A	0.0
public static final double	LINREG_HOOD_ANGLE_B	0.0

frc.robot.Constants.SuperstructureConstants

Modifier and Type	Constant Field	Value
public static final boolean	HOME_ON_ENABLE	true
public static final String	INTAKE_SUPERSTRUCTURE_TABLE_NAME	"Intake Superstructure"
public static final String	SHOOTER_SUPERSTRUCTURE_TABLE_NAME	"Shooter Superstructure"
public static final int	SHOOTING_CALCULATOR_ITERATIONS	3

frc.robot.Constants.TurretConstants

Modifier and Type	Constant Field	Value
public static final int	CANDI_ID	20
public static final double	MOTOR_GEAR_TEETH	48.0
public static final int	MOTOR_ID	20
public static final double	MOTOR_TO_PRIMARY_ENCODER_RATIO	1.0
public static final double	PINION_LOWER_TEETH	24.0
public static final double	PINION_UPPER_TEETH	20.0
public static final double	PRIMARY_ENCODER_RATIO	5.0
public static final double	SECONDARY_ENCODER_GEAR_TEETH	21.0
public static final double	SECONDARY_ENCODER_RATIO	9.0
public static final double	TURRET_GEAR_TEETH	200.0
public static final double	TURRET_KA	0.04
public static final double	TURRET_KD	2.1
public static final double	TURRET_KI	5.5
public static final double	TURRET_KP	19.0
public static final double	TURRET_KS	0.0
public static final double	TURRET_KV	3.0
public static final double	TURRET_SPAN	4.2

frc.robot.Constants.VisionConstants

Modifier and Type	Constant Field	Value
public static final String	EBOARD_CAM_NAME	"CamSide"
public static final String	TURRET_CAM_NAME	"CamFront"
public static final String	XTRA_CAM_NAME	"CamX3"

frc.robot.VersionConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2026-03-25 18:56:53 EDT"
public static final long	BUILD_UNIX_TIME	1774479413872L
public static final int	DIRTY	0
public static final String	GIT_BRANCH	"main"
public static final String	GIT_DATE	"2026-03-25 18:56:18 EDT"
public static final int	GIT_REVISION	1
public static final String	GIT_SHA	"89c68e8e8c7ab4f5925ea140fffb1bb9f09f2abd"
public static final String	MAVEN_GROUP	""
public static final String	MAVEN_NAME	"2026Robot"
public static final String	VERSION	"unspecified"