Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.HardwareMap

Modifier and Type	Constant Field	Value
public static final int	CAN_ID_ELEVATOR	14
public static final int	CLIMBER_LIMIT_SWITCH_DIO_PORT	3
public static final int	ELASTIC_WEBSERVER_PORT	5800
public static final int	ELEVATOR_GROUND_LIMIT_SWITCH_DIO_PORT	0
public static final int	ELEVATOR_TOP_LIMIT_SWITCH_DIO_PORT	1
public static final int	LED_STRIP_PWM_PORT	1
public static final int	OUTTAKE_BREAK_BEAM_DIO_PORT	2
public static final int	OUTTAKE_SERVO_PWM_PORT	0

frc.robot.constants.AutoConstants

Modifier and Type	Constant Field	Value
public static final double	ALIGN_DRIVE_P	1.7
public static final double	ALIGN_MAX_R_ACCEL	0.0
public static final double	ALIGN_MAX_R_SPEED	0.0
public static final double	ALIGN_MAX_T_ACCEL	0.0
public static final double	ALIGN_MAX_T_SPEED	0.0
public static final double	ALIGN_THETA_P	1.5
public static final int	B_REEF_1_TAG_ID	21
public static final int	B_REEF_2_TAG_ID	20
public static final int	B_REEF_3_TAG_ID	19
public static final int	B_REEF_4_TAG_ID	18
public static final int	B_REEF_5_TAG_ID	17
public static final int	B_REEF_6_TAG_ID	22
public static final int	BLUE_L_STATION_ID	13
public static final int	BLUE_R_STATION_ID	12
public static final double	CHOREO_PID_TOLLERANCE	0.001
public static final double	DEG_180	180.0
public static final double	DEG_360	360.0
public static final int	DRIVE_CURRENT_LIMIT_FRAMES	2
public static final double	FF_MAX_RADIUS	0.8
public static final double	FF_MIN_RADIUS	0.2
public static final int	R_REEF_1_TAG_ID	10
public static final int	R_REEF_2_TAG_ID	11
public static final int	R_REEF_3_TAG_ID	6
public static final int	R_REEF_4_TAG_ID	7
public static final int	R_REEF_5_TAG_ID	8
public static final int	R_REEF_6_TAG_ID	9
public static final int	RED_L_STATION_ID	1
public static final int	RED_R_STATION_ID	2
public static final double	SOURCE_Y_OFFSET	0.0

frc.robot.constants.Constants

Modifier and Type	Constant Field	Value
public static final double	ALIGN_TIME_SECS	2.5
public static final double	CLIMB_POWER	1.0
public static final double	CLIMB_REDUCED_POWER	0.5
public static final double	CLIMBER_COUNTS_PER_REV	453.6
public static final double	CLIMBER_ENCODER_RESET_POSITION	453.6
public static final double	CLIMBER_PID_MARGIN_OF_ERROR	3.0
public static final double	CLIMBER_PID_TARGET_CLIMB	310.0
public static final double	CLIMBER_PID_TARGET_EXTEND	130.0
public static final double	CLIMBER_PID_TARGET_LOW	0.0
public static final double	CORAL_SCORE_TIME_SECS	0.95
public static final double	ELEVATOR_CRUISE_VELO	600.0
public static final double	ELEVATOR_EXPO_KV	0.12
public static final double	ELEVATOR_JOYSTICK_INPUT_DEADBAND	0.1
public static final double	ELEVATOR_KA	0.0
public static final double	ELEVATOR_KD	0.0
public static final double	ELEVATOR_KG	0.2
public static final double	ELEVATOR_KI	0.0
public static final double	ELEVATOR_KP	3.0
public static final double	ELEVATOR_KS	0.1
public static final double	ELEVATOR_KV	0.001
public static final double	ELEVATOR_MANUAL_SCALE	0.5
public static final double	ELEVATOR_ROTS_TO_INCHES	2.3873241463784303
public static final double	ELEVATOR_TARGET_ACCEL	1800.0
public static final double	FUNNEL_INOUT_REAL_TIME_SECS	5.0
public static final double	INCHES_TO_METERS	0.0254
public static final int	LED_STRIP_BUFFER	3
public static final double	OUTTAKE_CLOSED_POS_ROTS	0.25
public static final double	OUTTAKE_OPEN_POS_ROTS	0.8
public static final int	UPDATE_FREQUENCY_HZ	100
public static final int	UPDATE_PERIOD_MS	20
public static final double	UPDATE_PERIOD_SECS	0.02

frc.robot.constants.DriveConstants

Modifier and Type	Constant Field	Value
public static final double	DRIVE_CURRENT_LIMIT	60.0
public static final double	DRIVE_DEADBAND	0.001
public static final double	DRIVE_P	0.1
public static final double	DRIVE_POSE_CHECK_LP	0.001
public static final double	DRIVE_POSE_CHECK_TIMER	0.5
public static final double	DRIVE_TO_POSE_HEADING_P	2.0
public static final double	DRIVE_V	0.124
public static final double	HEADING_P	20.0
public static final double	JOYSTICK_DEADBAND	0.1
public static final double	MAX_ANGULAR_VELO_RPS	0.75
public static final double	PASSIVE_ROBOT_FWD_M_S	0.1
public static final double	ROTATION_DEADBAND	0.001
public static final double	SLEW_RATE	2.9
public static final double	SPEED_DAMP_FACTOR	6.0
public static final double	STEER_CURRENT_LIMIT	60.0
public static final double	STEER_D	0.5
public static final double	STEER_P	100.0
public static final double	STEER_S	0.1
public static final double	STEER_V	2.33

frc.robot.constants.LEDConstants

Modifier and Type	Constant Field	Value
public static final double	LED_AQUA_SOLID	0.81
public static final double	LED_BLACK_SOLID	0.99
public static final double	LED_BLUE_GREEN_SOLID	0.79
public static final double	LED_BLUE_SOLID	0.87
public static final double	LED_BLUE_VIOLET_SOLID	0.89
public static final double	LED_BPM_FOREST_PALETTE	-0.61
public static final double	LED_BPM_LAVA_PALETTE	-0.63
public static final double	LED_BPM_OCEAN_PALETTE	-0.65
public static final double	LED_BPM_PARTY_PALETTE	-0.67
public static final double	LED_BPM_RAINBOW_PALETTE	-0.69
public static final double	LED_BREATH_BLUE	-0.15
public static final double	LED_BREATH_GRAY	-0.13
public static final double	LED_BREATH_RED	-0.17
public static final double	LED_COLOR_1_BLEND_TO_BLACK	-0.03
public static final double	LED_COLOR_1_BREATH_FAST	0.11
public static final double	LED_COLOR_1_BREATH_SLOW	0.09
public static final double	LED_COLOR_1_HEARTBEAT_FAST	0.07
public static final double	LED_COLOR_1_HEARTBEAT_MEDIUM	0.05
public static final double	LED_COLOR_1_HEARTBEAT_SLOW	0.03
public static final double	LED_COLOR_1_LARSON_SCANNER	-0.01
public static final double	LED_COLOR_1_LIGHT_CHASE	0.01
public static final double	LED_COLOR_1_SHOT	0.13
public static final double	LED_COLOR_1_STROBE	0.15
public static final double	LED_COLOR_2_BLEND_TO_BLACK	0.17
public static final double	LED_COLOR_2_BREATH_FAST	0.31
public static final double	LED_COLOR_2_BREATH_SLOW	0.29
public static final double	LED_COLOR_2_HEARTBEAT_FAST	0.27
public static final double	LED_COLOR_2_HEARTBEAT_MEDIUM	0.25
public static final double	LED_COLOR_2_HEARTBEAT_SLOW	0.23
public static final double	LED_COLOR_2_LARSON_SCANNER	0.19
public static final double	LED_COLOR_2_LIGHT_CHASE	0.21
public static final double	LED_COLOR_2_SHOT	0.33
public static final double	LED_COLOR_2_STROBE	0.35
public static final double	LED_COLOR_WAVES_FOREST_PALETTE	-0.37
public static final double	LED_COLOR_WAVES_LAVA_PALETTE	-0.39
public static final double	LED_COLOR_WAVES_OCEAN_PALETTE	-0.41
public static final double	LED_COLOR_WAVES_PARTY_PALETTE	-0.43
public static final double	LED_COLOR_WAVES_RAINBOW_PALETTE	-0.45
public static final double	LED_CONFETTI	-0.87
public static final double	LED_DARK_BLUE_SOLID	0.85
public static final double	LED_DARK_GRAY_SOLID	0.97
public static final double	LED_DARK_GREEN_SOLID	0.75
public static final double	LED_DARK_RED_SOLID	0.59
public static final double	LED_DUAL_BLEND	0.47
public static final double	LED_DUAL_BLEND_1_TO_2	0.45
public static final double	LED_DUAL_BPM	0.43
public static final double	LED_DUAL_COLOR_WAVES	0.53
public static final double	LED_DUAL_GRADIENT	0.41
public static final double	LED_DUAL_SETUP_PATTERN	0.49
public static final double	LED_DUAL_SINELON	0.55
public static final double	LED_DUAL_SPARKLE_1_ON_2	0.37
public static final double	LED_DUAL_SPARKLE_2_ON_1	0.39
public static final double	LED_DUAL_TWINKLES	0.51
public static final double	LED_FIRE_LARGE	-0.57
public static final double	LED_FIRE_MEDIUM	-0.59
public static final double	LED_GOLD_SOLID	0.67
public static final double	LED_GRAY_SOLID	0.95
public static final double	LED_GREEN_SOLID	0.77
public static final double	LED_HEARTBEAT_BLUE	-0.23
public static final double	LED_HEARTBEAT_GRAY	-0.19
public static final double	LED_HEARTBEAT_RED	-0.25
public static final double	LED_HEARTBEAT_WHITE	-0.21
public static final double	LED_HOT_PINK_SOLID	0.57
public static final double	LED_LARSON_SCANNER_GRAY	-0.33
public static final double	LED_LARSON_SCANNER_RED	-0.35
public static final double	LED_LAWN_GREEN_SOLID	0.71
public static final double	LED_LIGHT_CHASE_BLUE	-0.29
public static final double	LED_LIGHT_CHASE_GRAY	-0.27
public static final double	LED_LIGHT_CHASE_RED	-0.31
public static final double	LED_LIME_SOLID	0.73
public static final double	LED_ORANGE_SOLID	0.65
public static final double	LED_RAINBOW_FOREST_PALETTE	-0.91
public static final double	LED_RAINBOW_GLITTER	-0.89
public static final double	LED_RAINBOW_LAVA_PALETTE	-0.93
public static final double	LED_RAINBOW_OCEAN_PALETTE	-0.95
public static final double	LED_RAINBOW_PARTY_PALETTE	-0.97
public static final double	LED_RAINBOW_RAINBOW_PALETTE	-0.99
public static final double	LED_RED_ORANGE_SOLID	0.63
public static final double	LED_RED_SOLID	0.61
public static final double	LED_SHOT_BLUE	-0.83
public static final double	LED_SHOT_RED	-0.85
public static final double	LED_SHOT_WHITE	-0.81
public static final double	LED_SINELON_FOREST_PALETTE	-0.71
public static final double	LED_SINELON_LAVA_PALETTE	-0.73
public static final double	LED_SINELON_OCEAN_PALETTE	-0.75
public static final double	LED_SINELON_PARTY_PALETTE	-0.77
public static final double	LED_SINELON_RAINBOW_PALETTE	-0.79
public static final double	LED_SKY_BLUE_SOLID	0.83
public static final double	LED_STROBE_BLUE	-0.09
public static final double	LED_STROBE_GOLD	-0.07
public static final double	LED_STROBE_RED	-0.11
public static final double	LED_STROBE_WHITE	-0.05
public static final double	LED_TWINKLES_FOREST_PALETTE	-0.47
public static final double	LED_TWINKLES_LAVA_PALETTE	-0.49
public static final double	LED_TWINKLES_OCEAN_PALETTE	-0.51
public static final double	LED_TWINKLES_PARTY_PALETTE	-0.53
public static final double	LED_TWINKLES_RAINBOW_PALETTE	-0.55
public static final double	LED_VIOLET_SOLID	0.91
public static final double	LED_WHITE_SOLID	0.93
public static final double	LED_YELLOW_SOLID	0.69

frc.robot.constants.SimConstants

Modifier and Type	Constant Field	Value
public static final double	ANGULAR_STD_DEV_BASELINE	0.06
public static final double	BATTERY_VOLTAGE	12.0
public static final double	CLIMBER_SIM_VISUALIZATION_CONSTANT	0.0023
public static final double	DRIVE_FRICTION_VOLTS	0.1
public static final double	ELEVATOR_SIM_VISUALIZATION_HEIGHT_MULTIPLIER	2.0
public static final double	LENGTH_IN	35.5
public static final double	LINEAR_STD_DEV_BASELINE	0.02
public static final double	LINEAR_STD_MEGATAG_2_FACTOR	0.5
public static final double	MASS_WITH_BUMPER_LBS	115.0
public static final double	MAX_AMBIGUITY	0.3
public static final double	MAX_Z_ERROR	0.75
public static final double	MODULE_STEER_D	4.5
public static final double	MODULE_STEER_P	70.0
public static final double	MOI	6.99597
public static final String	REEF_CAMERA_NAME	"Reef CV Camera"
public static final String	STATION_CAMERA_NAME	"Station CV Camera"
public static final double	STEER_FRICTION_VOLTS	0.15
public static final double	STEER_INERTIA_KGMS2	0.05
public static final double	WHEEL_COF	1.2
public static final double	WIDTH_IN	35.5

frc.robot.constants.TunerConstants

Modifier and Type	Constant Field	Value
public static final double	DRIVE_RATIO	5.902777777777778

frc.robot.constants.VisionConstants

Modifier and Type	Constant Field	Value
public static final int	AT_ARR_CAMERA_OFFSET	1
public static final int	AT_ARR_INC	10
public static final int	AT_ARR_ROTATION_OFFSET	7
public static final int	AT_ARR_TRANSLATION_OFFSET	4
public static final int	LOCALIZATION_TAG_NUM	1
public static final double	LOCALIZATION_TRANSLATIONAL_THRESHOLD	0.4
public static final double	MAX_ANGULAR_SPEED_RADIANS_PER_SECOND	0.3141592653589793
public static final double	MAX_SPEED_METERS_PER_SECOND	0.15
public static final double	MAX_TAG_TARGET_DISTANCE_X	2.0
public static final double	MIN_TAG_TARGET_DISTANCE_X	0.2
public static final double	N_180	180.0
public static final String	REEF_CAM_NAME	"Reef_Camera"
public static final String	SOURCE_CAM_NAME	"Source_Camera"
public static final double	TAG_TARGET_DISTANCE	0.2
public static final double	TAG_TARGET_THETA_RAD	0.6283185307179586
public static final double	TAG_Y_SCALING_COEF	0.6
public static final int	UNABLE_TO_SEE_NOTE_CONSTANT	5000
public static final int	UNABLE_TO_SEE_TAG_CONSTANT	4000
public static final double	X_MARGIN_TO_REEF	0.02
public static final double	Y_MARGIN_TO_REEF	0.02

frc.robot.logging.MechLogging

Modifier and Type	Constant Field	Value
public static final double	STAGE_2_RATIO	1.5
public static final double	STAGE_3_RATIO	3.0

frc.robot.motors.SparkMaxWrapper

Modifier and Type	Constant Field	Value
public static final double	LOOP_PERIOD_MS	0.02

frc.robot.motors.TalonFXWrapper

Modifier and Type	Constant Field	Value
public static final double	LOOP_PERIOD_MS	0.02