Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.Constants.ClimberConstants

Modifier and Type	Constant Field	Value
public static final double	CLIMBER_GEAR_RATIO	7.2
public static final double	CLIMBER_WEIGHT_KGS	1.36078
public static final int	CONTROL_REQUEST_SUBSTRING_START_INDEX	9
public static final double	CRUISE_VELO	30.0
public static final double	EFFECTIVE_WEIGHT	1.36078
public static final double	EXPO_KV	0.0
public static final double	JOYSTICK_DEADBAND	0.1
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.05
public static final double	KI	0.0
public static final double	KP	5.0
public static final double	KS	0.05
public static final double	KV	0.0
public static final double	LIMIT_SWITCH_HEIGHT	0.01
public static final double	MANUAL_SCALE	1.0
public static final double	ROTS_TO_INCHES	0.15165876777251186
public static final double	TARGET_ACCEL	30.0
public static final double	UPDATE_RATE	0.02

frc.robot.Constants.DrivetrainConstants

Modifier and Type	Constant Field	Value
public static final double	ROTATIONAL_DAMP	1.0
public static final double	ROTATIONAL_DEADBAND	0.1
public static final int	SWERVE_MODULE_COUNT	4
public static final double	SYS_ID_VOLT_DAMP	6.0
public static final double	TRANSLATIONAL_DAMP	1.0
public static final double	TRANSLATIONAL_DEADBAND	0.1

frc.robot.Constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final double	INTAKE_CRUISE_VELO	20.0
public static final double	INTAKE_EXPO_KV	0.12
public static final double	INTAKE_GEARING	3.0
public static final double	INTAKE_KA	0.0
public static final double	INTAKE_KD	0.0
public static final double	INTAKE_KI	0.0
public static final double	INTAKE_KP	0.2
public static final double	INTAKE_KV	0.12
public static final double	INTAKE_PIVOT_GEARING	62.5
public static final double	INTAKE_TARGET_ACCEL	40.0
public static final double	INTAKE_TARGET_VELOCITY	40.0
public static final double	OUTTAKE_TARGET_VELOCITY	-40.0
public static final double	PIVOT_ARM_LENGTH	0.5
public static final double	PIVOT_BUFFER	0.01
public static final double	PIVOT_CRUISE_VELO	15.0
public static final double	PIVOT_CURRENT_LIMIT	10.0
public static final double	PIVOT_EXPO_KV	0.12
public static final double	PIVOT_KA	0.03
public static final double	PIVOT_KD	0.2
public static final double	PIVOT_KG	0.2
public static final double	PIVOT_KI	0.0
public static final double	PIVOT_KP	25.0
public static final double	PIVOT_KS	0.2
public static final double	PIVOT_KV	0.06
public static final double	PIVOT_MAX_ROTATION	2.09
public static final double	PIVOT_MIN_ROTATION	0.0
public static final double	PIVOT_TARGET_ACCEL	30.0
public static final double	SIM_UPDATE_SECONDS	0.02

frc.robot.Constants.LimelightConstants

Modifier and Type	Constant Field	Value
public static final long	AUTO_UPDATE_INTERVAL_MS	20L

frc.robot.Constants.ModuleConstants

Modifier and Type	Constant Field	Value
public static final double	DRIVE_CURRENT_LIMIT	60.0
public static final double	DRIVE_D	0.0
public static final double	DRIVE_I	0.0
public static final double	DRIVE_P	0.1
public static final double	DRIVE_V	0.124
public static final double	STEER_CURRENT_LIMIT	60.0
public static final double	STEER_D	0.5
public static final double	STEER_I	0.0
public static final double	STEER_P	100.0
public static final double	STEER_S	0.0
public static final double	STEER_V	0.1

frc.robot.Constants.ShooterConstants

Modifier and Type	Constant Field	Value
public static final double	FEED_MAX_TIME	2.0
public static final double	FEEDER_GEAR_RATIO	3.0
public static final double	FEEDER_MM_CONSTANT_D	0.0
public static final double	FEEDER_MM_CONSTANT_I	0.0
public static final double	FEEDER_MM_CONSTANT_P	0.1
public static final double	FEEDER_MM_CONSTANT_S	0.1
public static final double	FLYWHEEL_GEAR_RATIO	3.0
public static final double	FLYWHEEL_MM_CONSTANT_D	0.0
public static final double	FLYWHEEL_MM_CONSTANT_I	0.0
public static final double	FLYWHEEL_MM_CONSTANT_P	0.0
public static final double	FLYWHEEL_MM_CONSTANT_S	0.1
public static final double	MM_CONSTANT_V	0.112
public static final double	SHOOTER_CURRENT_LIMIT	50.0
public static final double	SPINDEX_CONSTANT_SPEED	0.1
public static final double	SPINDEX_CONSTANT_VOLTAGE	1.0
public static final double	SPINDEX_GEAR_RATIO	3.0
public static final double	TEMP_FLYSPEED	20.0

frc.robot.HardwareMap

Modifier and Type	Constant Field	Value
public static final int	CAN_ID_CLIMBER_LEFT	6
public static final int	CAN_ID_CLIMBER_RIGHT	7
public static final int	CAN_ID_FEEDER	10
public static final int	CAN_ID_FLYWHEEL	9
public static final int	CAN_ID_SPARK_DRIVE_BACK_LEFT	4
public static final int	CAN_ID_SPARK_DRIVE_BACK_RIGHT	2
public static final int	CAN_ID_SPARK_DRIVE_FRONT_LEFT	3
public static final int	CAN_ID_SPARK_DRIVE_FRONT_RIGHT	1
public static final int	CAN_ID_SPARK_INTAKE	5
public static final int	CAN_ID_SPARK_PIVOT_LEFT	11
public static final int	CAN_ID_SPARK_PIVOT_RIGHT	12
public static final int	CAN_ID_SPINDEXER	11
public static final int	CLIMBER_GROUND_LIMIT_SWITCH_DIO_PORT_LEFT	2
public static final int	CLIMBER_GROUND_LIMIT_SWITCH_DIO_PORT_RIGHT	3
public static final int	INTAKE_GROUND_LIMIT_SWITCH_DIO_PORT	0
public static final int	INTAKE_TOP_LIMIT_SWITCH_DIO_PORT	2
public static final int	PCM_CHANNEL_INTAKE_CYLINDER_FORWARD	1
public static final int	PCM_CHANNEL_INTAKE_CYLINDER_REVERSE	2
public static final int	STORAGE_BREAK_BEAM_DIO_PORT	2

frc.robot.input.AutoInput

Modifier and Type	Constant Field	Value
public static final int	DEFAULT_PRESS_DURATION_CYCLES	5

frc.robot.input.TeleopInput

Modifier and Type	Constant Field	Value
public static final int	DRIVE_CONTROLLER_PORT	0
public static final int	MECH_CONTROLLER_PORT	1

frc.robot.motors.MotorConstants

Modifier and Type	Constant Field	Value
public static final String	LOGGING_PREFIX	"Motor "

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