Package frc.robot.constants

Class TunerConstants

java.lang.Object
frc.robot.constants.TunerConstants
public class TunerConstants extends Object

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static class 
    TunerConstants.TunerSwerveDrivetrain
    Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    BACK_LEFT
     
    static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    BACK_RIGHT
     
    static final com.ctre.phoenix6.CANBus
    CAN_BUS
     
    static final double
    DRIVE_RATIO
     
    static final com.ctre.phoenix6.swerve.SwerveDrivetrainConstants
    DRIVETRAIN_CONSTANTS
     
    static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    FRONT_LEFT
     
    static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    FRONT_RIGHT
     
    static final edu.wpi.first.units.measure.LinearVelocity
    SPEED_AT_12_VOLTS
     
    static final edu.wpi.first.units.measure.Distance
    WHEEL_RADIUS
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    TunerConstants()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static CommandSwerveDrivetrain
    createDrivetrain()
    Creates a CommandSwerveDrivetrain instance.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • CAN_BUS

      public static final com.ctre.phoenix6.CANBus CAN_BUS

    • SPEED_AT_12_VOLTS

      public static final edu.wpi.first.units.measure.LinearVelocity SPEED_AT_12_VOLTS

    • DRIVE_RATIO

      public static final double DRIVE_RATIO
      See Also:

    • WHEEL_RADIUS

      public static final edu.wpi.first.units.measure.Distance WHEEL_RADIUS

    • DRIVETRAIN_CONSTANTS

      public static final com.ctre.phoenix6.swerve.SwerveDrivetrainConstants DRIVETRAIN_CONSTANTS

    • FRONT_LEFT

      public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> FRONT_LEFT

    • FRONT_RIGHT

      public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> FRONT_RIGHT

    • BACK_LEFT

      public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> BACK_LEFT

    • BACK_RIGHT

      public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> BACK_RIGHT

  • Constructor Details

    • TunerConstants

      public TunerConstants()

  • Method Details

    • createDrivetrain

      public static CommandSwerveDrivetrain createDrivetrain()
      Creates a CommandSwerveDrivetrain instance. This should only be called once in your robot program,.
      Returns:
      A CommandSwerveDrivetrain instance