Package frc.robot.systems.drive

Class DriveConstants

java.lang.Object
frc.robot.systems.drive.DriveConstants
public class DriveConstants extends Object

  • Field Details

    • kRobotWidthXMeters

      public static final double kRobotWidthXMeters

    • kRobotWidthYMeters

      public static final double kRobotWidthYMeters

    • kTrackWidthXMeters

      public static final double kTrackWidthXMeters

    • kTrackWidthYMeters

      public static final double kTrackWidthYMeters

    • kModuleTranslations

      public static final edu.wpi.first.math.geometry.Translation2d[] kModuleTranslations

    • kKinematics

      public static final edu.wpi.first.math.kinematics.SwerveDriveKinematics kKinematics

    • kDrivebaseRadiusMeters

      public static final double kDrivebaseRadiusMeters

    • kMaxLinearSpeedMPS

      public static final double kMaxLinearSpeedMPS
      See Also:

    • kMaxLinearAccelerationMPSS

      public static final double kMaxLinearAccelerationMPSS
      See Also:

    • kMaxRotationSpeedRadiansPS

      public static final double kMaxRotationSpeedRadiansPS

    • kMaxRotationAccelRadiansPS

      public static final double kMaxRotationAccelRadiansPS

    • kMaxAzimuthAngularRadiansPS

      public static final double kMaxAzimuthAngularRadiansPS

    • kAutoDriveConstraints

      public static final com.pathplanner.lib.path.PathConstraints kAutoDriveConstraints

    • kDriftRate

      public static final double kDriftRate

    • kAzimuthDriveScalar

      public static final double kAzimuthDriveScalar

    • kDoExtraLogging

      public static final boolean kDoExtraLogging
      See Also:

    • kPPTranslationPID

      public static final com.pathplanner.lib.config.PIDConstants kPPTranslationPID

    • kPPRotationPID

      public static final com.pathplanner.lib.config.PIDConstants kPPRotationPID

    • kTurnMotorInvert

      public static final boolean kTurnMotorInvert
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    • kCANCoderToMechanismRatio

      public static final double kCANCoderToMechanismRatio
      See Also:

    • kAzimuthMotorGearing

      public static final double kAzimuthMotorGearing
      See Also:

    • kDriveMotorGearing

      public static final double kDriveMotorGearing
      See Also:

    • kWheelRadiusMeters

      public static final double kWheelRadiusMeters

    • kWheelCircumferenceMeters

      public static final double kWheelCircumferenceMeters

    • kPeakVoltage

      public static final double kPeakVoltage
      See Also:

    • kDriveStatorAmpLimit

      public static final double kDriveStatorAmpLimit
      See Also:

    • kDriveFOCAmpLimit

      public static final double kDriveFOCAmpLimit
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    • kDriveSupplyAmpLimit

      public static final double kDriveSupplyAmpLimit
      See Also:

    • kAzimuthStatorAmpLimit

      public static final double kAzimuthStatorAmpLimit
      See Also:

    • kAzimuthFOCAmpLimit

      public static final double kAzimuthFOCAmpLimit
      See Also:

    • kModuleControllerConfigs

      public static final DriveConstants.ModuleControlConfig kModuleControllerConfigs

    • kCANBus

      public static final com.ctre.phoenix6.CANBus kCANBus

    • kPigeonCANID

      public static final int kPigeonCANID
      See Also:

    • kFrontLeftHardware

      public static final DriveConstants.ModuleHardwareConfig kFrontLeftHardware

    • kFrontRightHardware

      public static final DriveConstants.ModuleHardwareConfig kFrontRightHardware

    • kBackLeftHardware

      public static final DriveConstants.ModuleHardwareConfig kBackLeftHardware

    • kBackRightHardware

      public static final DriveConstants.ModuleHardwareConfig kBackRightHardware

  • Constructor Details

    • DriveConstants

      public DriveConstants()