Package frc.robot

Class Constants.SuperstructureConstants

java.lang.Object

frc.robot.Constants.SuperstructureConstants

Enclosing class:

Constants

public static class Constants.SuperstructureConstants
extends Object

Constants that configure the superstructure.

Field Summary

Fields

Modifier and Type	Field	Description
static final boolean	HOME_ON_ENABLE	Should we automatically enter the ShooterSuperstructure.ShooterState.HOME state on enable?
static final Distance	HOOD_PIVOT_TO_GAMEPIECE_LAUNCH_RADIUS	the distance from the pivot of the hood to the halfway point between the edges of the flywheels, AKA where the ball will be launched from
static final String	INTAKE_SUPERSTRUCTURE_TABLE_NAME	The table name for the intake superstructure.
static final Time	PERIODIC_INTERVAL	The interval to run the RobotContainer.superstructurePeriodic() at.
static final Transform3d	ROBOT_TO_TURRET_BASE_TRANSFORM	the transform from the center of the robot on the floor to the center of the pivot on the top of the shooter base plate, in meters
static final String	SHOOTER_SUPERSTRUCTURE_TABLE_NAME	The table name for the shooter superstructure.
static final int	SHOOTING_CALCULATOR_ITERATIONS	The number of times to recalculate the shooting position for shoot-while-move.
static final Transform3d	TURRET_BASE_TO_HOOD_PIVOT	the transform from the center of the pivot on top of the shooter base plate to the center of the hood pivot axis in meters

Constructor Summary

Constructors

Constructor	Description
SuperstructureConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

SHOOTER_SUPERSTRUCTURE_TABLE_NAME

public static final String SHOOTER_SUPERSTRUCTURE_TABLE_NAME

The table name for the shooter superstructure.

See Also:

• Constant Field Values

INTAKE_SUPERSTRUCTURE_TABLE_NAME

public static final String INTAKE_SUPERSTRUCTURE_TABLE_NAME

The table name for the intake superstructure.

See Also:

• Constant Field Values

PERIODIC_INTERVAL

public static final Time PERIODIC_INTERVAL

The interval to run the RobotContainer.superstructurePeriodic() at.

SHOOTING_CALCULATOR_ITERATIONS

public static final int SHOOTING_CALCULATOR_ITERATIONS

The number of times to recalculate the shooting position for shoot-while-move. More iterations should give more accurate shoot-while-move outputs.

See Also:

• Constant Field Values

HOME_ON_ENABLE

public static final boolean HOME_ON_ENABLE

Should we automatically enter the ShooterSuperstructure.ShooterState.HOME state on enable?

This should be set to true for competitions, since we want to spin up the shooter automatically.

See Also:

• Constant Field Values

HOOD_PIVOT_TO_GAMEPIECE_LAUNCH_RADIUS

public static final Distance HOOD_PIVOT_TO_GAMEPIECE_LAUNCH_RADIUS

the distance from the pivot of the hood to the halfway point between the edges of the flywheels, AKA where the ball will be launched from

ROBOT_TO_TURRET_BASE_TRANSFORM

public static final Transform3d ROBOT_TO_TURRET_BASE_TRANSFORM

the transform from the center of the robot on the floor to the center of the pivot on the top of the shooter base plate, in meters

TURRET_BASE_TO_HOOD_PIVOT

public static final Transform3d TURRET_BASE_TO_HOOD_PIVOT

the transform from the center of the pivot on top of the shooter base plate to the center of the hood pivot axis in meters

Constructor Details

SuperstructureConstants

public SuperstructureConstants()