Constant Field Values

Contents

• frc.alotobots.*

frc.alotobots.*

frc.alotobots.BuildConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2025-04-14 12:20:16 EDT"
public static final long	BUILD_UNIX_TIME	1744647616103L
public static final int	DIRTY	0
public static final String	GIT_BRANCH	"competition"
public static final String	GIT_DATE	"2025-04-14 12:18:58 EDT"
public static final int	GIT_REVISION	1
public static final String	GIT_SHA	"0e7da31f78ef99d2a8ce289d19ad531db5267ec0"
public static final String	MAVEN_GROUP	""
public static final String	MAVEN_NAME	"5152_Reefscape"
public static final String	VERSION	"unspecified"

frc.alotobots.Constants.CanId

Modifier and Type	Constant Field	Value
public static final int	ALGAE_INTAKE_CANRANGE_ID	39
public static final int	ALGAE_INTAKE_LEFT_MOTOR_CAN_ID	37
public static final int	ALGAE_INTAKE_RIGHT_MOTOR_CAN_ID	38
public static final int	CANDLE_CAN_ID	40
public static final int	ELEVATOR_CANRANGE_ID	32
public static final int	INTAKE_CANRANGE_ID	36
public static final int	INTAKE_MOTOR_CAN_ID	35
public static final int	LEFT_ELEVATOR_CAN_ID	30
public static final int	PCM_CAN_ID	2
public static final int	PDP_CAN_ID	1
public static final int	RIGHT_ELEVATOR_CAN_ID	31
public static final int	SERVO_HUB_CAN_ID	4
public static final int	WRIST_ENCODER_CAN_ID	34
public static final int	WRIST_MOTOR_CAN_ID	33

frc.alotobots.OI

Modifier and Type	Constant Field	Value
public static final double	DEADBAND	0.1

frc.alotobots.OI.AxisLimits

Modifier and Type	Constant Field	Value
public static final double	MAX_AXIS_LIMIT	1.0
public static final double	MIN_AXIS_LIMIT	-1.0

frc.alotobots.library.subsystems.bling.constants.BlingConstants

Modifier and Type	Constant Field	Value
public static final boolean	DISABLE_STATUS_LED	false
public static final int	LED_OFFSET	8
public static final double	MAX_LED_BRIGHTNESS	0.25
public static final int	NUM_LEDS	92

frc.alotobots.library.subsystems.swervedrive.constants.mk4i2023.TunerConstants2023.CustomConstants

Modifier and Type	Constant Field	Value
public static final double	precisionAlignAllowRadius	0.5
public static final double	precisionAlignTolerance	0.03
public static final double	ROBOT_MOI	2.55

frc.alotobots.library.subsystems.swervedrive.constants.mk4i2025.TunerConstants2025.CustomConstants

Modifier and Type	Constant Field	Value
public static final double	precisionAlignAllowRadius	0.5
public static final double	precisionAlignTolerance	0.03
public static final double	ROBOT_MASS_KG	59.1
public static final double	ROBOT_MOI	6.79453
public static final double	WHEEL_COF	1.2

frc.alotobots.library.subsystems.vision.oculus.constants.OculusConstants

Modifier and Type	Constant Field	Value
public static final double	BATTERY_CRITICAL_PERCENT	10.0
public static final double	BATTERY_LOW_PERCENT	20.0
public static final double	SIM_TRUST_ROTATION	10.0
public static final double	SIM_TRUST_TRANSLATION	5.0

frc.alotobots.library.subsystems.vision.oculus.util.OculusStatus.Miso

Modifier and Type	Constant Field	Value
public static final int	STATUS_HEADING_RESET_COMPLETE	99
public static final int	STATUS_PING_RESPONSE	97
public static final int	STATUS_POSE_RESET_COMPLETE	98
public static final int	STATUS_READY	0

frc.alotobots.library.subsystems.vision.oculus.util.OculusStatus.Mosi

Modifier and Type	Constant Field	Value
public static final int	COMMAND_CLEAR	0
public static final int	COMMAND_PING	3
public static final int	COMMAND_RESET_HEADING	1
public static final int	COMMAND_RESET_POSE	2

frc.alotobots.library.subsystems.vision.photonvision.apriltag.constants.AprilTagConstants

Modifier and Type	Constant Field	Value
public static final double	POSE_TIMEOUT	0.06
public static final double	SINGLE_TAG_MAX_AMBIGUITY	0.2
public static final double	SINGLE_TAG_MAX_DISTANCE	2.0

frc.alotobots.library.subsystems.vision.photonvision.objectdetection.constants.ObjectDetectionConstants

Modifier and Type	Constant Field	Value
public static final int	HISTORY_LENGTH	50
public static final int	MISSING_FRAMES_THRESHOLD	15
public static final int	REQUIRED_DETECTIONS	20
public static final double	SCALE_FACTOR	1.15

frc.alotobots.reefscape.subsystems.climber.constants.ClimberRevServoRealConstants

Modifier and Type	Constant Field	Value
public static final int	CAGE_SWITCH_1_ID	0
public static final int	CAGE_SWITCH_2_ID	1
public static final int	ELEVATOR_LOCKING_LEFT_SERVO_CLOSED_PW	1050
public static final int	ELEVATOR_LOCKING_LEFT_SERVO_OPEN_PW	1600
public static final int	ELEVATOR_LOCKING_RIGHT_SERVO_CLOSED_PW	2050
public static final int	ELEVATOR_LOCKING_RIGHT_SERVO_OPEN_PW	1470
public static final int	LOCKING_SERVO_CLOSED_PW	1376
public static final int	LOCKING_SERVO_OPEN_PW	1994
public static final int	PLUNGER_SERVO_0_PW	720
public static final int	PLUNGER_SERVO_180_PW	2500

frc.alotobots.reefscape.subsystems.coralIntake.constants.CoralIntakeConstants.Limits

Modifier and Type	Constant Field	Value
public static final double	MAX_OPEN_LOOP_EJECT_PERCENTAGE	0.75
public static final double	MAX_OPEN_LOOP_INTAKE_PERCENTAGE	1.0
public static final double	MAX_OPEN_LOOP_PERCENTAGE	1.0

frc.alotobots.reefscape.subsystems.coralIntake.constants.CoralIntakeConstants.Setpoints.OpenLoop

Modifier and Type	Constant Field	Value
public static final double	EJECT_PERCENTAGE	0.75
public static final double	INTAKE_PERCENTAGE	0.75

frc.alotobots.reefscape.subsystems.coralIntake.constants.CoralIntakeTalonFXRealConstants.PIDConstants.VelocityPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KD	0.0
public static final double	KF	0.0
public static final double	KI	0.0
public static final double	KP	0.1

frc.alotobots.reefscape.subsystems.coralIntake.constants.CoralIntakeVortexRealConstants

Modifier and Type	Constant Field	Value
public static final boolean	MOTOR_DIRECTION	false

frc.alotobots.reefscape.subsystems.coralIntake.constants.CoralIntakeVortexRealConstants.PIDConstants.VelocityPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KD	0.0
public static final double	KF	0.0
public static final double	KI	0.0
public static final double	KP	0.1

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorConstants.Limits

Modifier and Type	Constant Field	Value
public static final boolean	LIMITS_ENABLED	true
public static final double	MAX_OPEN_LOOP_PERCENTAGE	0.5

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXRealConstants

Modifier and Type	Constant Field	Value
public static final double	HEIGHT_PER_ROTATION	0.0380319

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXRealConstants.MotionMagicConstants

Modifier and Type	Constant Field	Value
public static final double	JERK	0.0

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXRealConstants.PIDConstants.ClimbingPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.0
public static final double	KI	0.0
public static final double	KP	0.2
public static final double	KS	0.0
public static final double	KV	0.12

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXRealConstants.PIDConstants.PositionPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.31
public static final double	KI	0.0
public static final double	KP	3.5
public static final double	KS	0.19
public static final double	KV	0.0

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXRealConstants.PIDConstants.VelocityPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.35
public static final double	KI	0.0
public static final double	KP	0.1
public static final double	KS	0.0
public static final double	KV	0.11

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXSimConstants

Modifier and Type	Constant Field	Value
public static final double	HEIGHT_PER_ROTATION	0.00977762

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXSimConstants.HardwareConstants

Modifier and Type	Constant Field	Value
public static final double	ELEVATOR_MASS_KG	5.0
public static final double	GEAR_RATIO	15.0
public static final double	PULLEY_RADIUS_M	0.04

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXSimConstants.MotionMagicConstants

Modifier and Type	Constant Field	Value
public static final double	JERK	0.0

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXSimConstants.PIDConstants.ClimbingPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.16
public static final double	KI	0.0
public static final double	KP	0.2
public static final double	KS	0.0
public static final double	KV	0.12

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXSimConstants.PIDConstants.PositionPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.16
public static final double	KI	0.0
public static final double	KP	3.3
public static final double	KS	0.19
public static final double	KV	0.0

frc.alotobots.reefscape.subsystems.elevator.constants.ElevatorTalonFXSimConstants.PIDConstants.VelocityPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.16
public static final double	KI	0.0
public static final double	KP	0.1
public static final double	KS	0.0
public static final double	KV	0.11

frc.alotobots.reefscape.subsystems.wrist.constants.WristConstants.Limits

Modifier and Type	Constant Field	Value
public static final boolean	LIMITS_ENABLED	true
public static final double	MAX_OPEN_LOOP_PERCENTAGE	0.5

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXRealConstants

Modifier and Type	Constant Field	Value
public static final double	ENCODER_MAGNET_OFFSET	-0.105712890625
public static final int	ROTOR_TO_SENSOR_RATIO	189

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXRealConstants.MotionMagicConstants

Modifier and Type	Constant Field	Value
public static final double	JERK	0.0

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXRealConstants.PIDConstants.PositionPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.0
public static final double	KI	0.0
public static final double	KP	70.0
public static final double	KS	0.0
public static final double	KV	0.0

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXRealConstants.PIDConstants.VelocityPIDConstants

Modifier and Type	Constant Field	Value
public static final double	KA	0.0
public static final double	KD	0.05
public static final double	KG	0.15
public static final double	KI	0.0
public static final double	KP	0.1
public static final double	KS	0.0
public static final double	KV	32.0

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXSimConstants

Modifier and Type	Constant Field	Value
public static final double	ARM_LENGTH	0.3048
public static final double	ENCODER_MAGNET_OFFSET	-0.225341796875
public static final double	INERTIA_KGM2	0.2809
public static final int	ROTOR_TO_SENSOR_RATIO	189

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXSimConstants.MotionMagicConstants

Modifier and Type	Constant Field	Value
public static final double	JERK	0.0