Package frc.alotobots.library.subsystems.swervedrive.constants

Interface TunerConstants

All Known Implementing Classes:
TunerConstants2023, TunerConstants2025
public interface TunerConstants
Interface defining constants and configuration values for swerve drive tuning. This interface provides access to module-specific configurations, drivetrain constants, and various control parameters needed for swerve drive operation.

  • Method Summary

    Modifier and Type
    Method
    Description
    com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    getBackLeft()
    Gets the configuration constants for the back left swerve module.
    com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    getBackRight()
    Gets the configuration constants for the back right swerve module.
    Distance
    getBumperLength()
    Gets the length of the robot with bumpers.
    Distance
    getBumperWidth()
    Gets the width of the robot with bumpers.
    double
    getDriveBaseRadius()
    Gets the radius of the drive base from center to furthest module.
    ProfiledPIDController
    getDriveFacingAnglePIDController()
    Gets the PID controller for maintaining robot heading while driving.
    com.ctre.phoenix6.configs.Slot0Configs
    getDriveGains()
    Gets the PID gains for the drive motors.
    com.ctre.phoenix6.swerve.SwerveDrivetrainConstants
    getDrivetrainConstants()
    Gets the general drivetrain constants for the swerve drive.
    org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
    getDriveTrainSimulationConfig()
    Gets the simulation config for Maple-Sim
    com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    getFrontLeft()
    Gets the configuration constants for the front left swerve module.
    com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>
    getFrontRight()
    Gets the configuration constants for the front right swerve module.
    com.pathplanner.lib.controllers.PPHolonomicDriveController
    getHolonomicDriveController()
    Gets the holonomic drive controller for path following.
    double
    getMaxModularRotationalRate()
    Gets the maximum rotational rate of individual modules.
    Translation2d[]
    getModuleTranslations()
    Gets the physical positions of all swerve modules relative to the robot center.
    LinearVelocity
    getNominalSpeed()
    Gets the robot's standard operating speed.
    double
    getOdometryFrequency()
    Gets the frequency at which odometry updates are processed.
    com.pathplanner.lib.path.PathConstraints
    getPathfindingConstraints()
    Gets the constraints for PathPlanner pathfinding.
    com.pathplanner.lib.config.RobotConfig
    getPathPlannerConfig()
    Gets the PathPlanner configuration for the robot.
    double
    getPrecisionAlignAllowRadius()
    Gets the radius in which precision align should function
    com.pathplanner.lib.controllers.PPHolonomicDriveController
    getPrecisionAlignHolonomicDriveController()
    Gets the precision align holonomic drive controller for path following.
    double
    getPrecisionAlignTolerance()
    Gets the precision align tolerance (when it stops trying to correct)
    LinearVelocity
    getSpeedAt12Volts()
    Gets the robot's maximum speed at 12 volts.
    com.ctre.phoenix6.configs.Slot0Configs
    getSteerGains()
    Gets the PID gains for the steer motors.
    LinearVelocity
    getTurboSpeed()
    Gets the robot's maximum boosted speed.
    LinearVelocity
    getTurtleSpeed()
    Gets the robot's reduced speed for precision control.

  • Method Details

    • getFrontLeft

      com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getFrontLeft()
      Gets the configuration constants for the front left swerve module.
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the front left module

    • getFrontRight

      com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getFrontRight()
      Gets the configuration constants for the front right swerve module.
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the front right module

    • getBackLeft

      com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getBackLeft()
      Gets the configuration constants for the back left swerve module.
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the back left module

    • getBackRight

      com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getBackRight()
      Gets the configuration constants for the back right swerve module.
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the back right module

    • getDrivetrainConstants

      com.ctre.phoenix6.swerve.SwerveDrivetrainConstants getDrivetrainConstants()
      Gets the general drivetrain constants for the swerve drive.
      Returns:
      SwerveDrivetrainConstants containing overall drivetrain configuration

    • getDriveBaseRadius

      double getDriveBaseRadius()
      Gets the radius of the drive base from center to furthest module.
      Returns:
      The drive base radius in meters

    • getSpeedAt12Volts

      LinearVelocity getSpeedAt12Volts()
      Gets the robot's maximum speed at 12 volts.
      Returns:
      The maximum speed as a LinearVelocity

    • getTurtleSpeed

      LinearVelocity getTurtleSpeed()
      Gets the robot's reduced speed for precision control.
      Returns:
      The turtle mode speed as a LinearVelocity

    • getNominalSpeed

      LinearVelocity getNominalSpeed()
      Gets the robot's standard operating speed.
      Returns:
      The nominal speed as a LinearVelocity

    • getTurboSpeed

      LinearVelocity getTurboSpeed()
      Gets the robot's maximum boosted speed.
      Returns:
      The turbo mode speed as a LinearVelocity

    • getMaxModularRotationalRate

      double getMaxModularRotationalRate()
      Gets the maximum rotational rate of individual modules.
      Returns:
      The maximum rotational rate in radians per second

    • getOdometryFrequency

      double getOdometryFrequency()
      Gets the frequency at which odometry updates are processed.
      Returns:
      The odometry update frequency in hertz

    • getBumperLength

      Distance getBumperLength()
      Gets the length of the robot with bumpers.
      Returns:
      The bumper length as a Distance

    • getBumperWidth

      Distance getBumperWidth()
      Gets the width of the robot with bumpers.
      Returns:
      The bumper width as a Distance

    • getPathPlannerConfig

      com.pathplanner.lib.config.RobotConfig getPathPlannerConfig()
      Gets the PathPlanner configuration for the robot.
      Returns:
      RobotConfig containing PathPlanner-specific settings

    • getPathfindingConstraints

      com.pathplanner.lib.path.PathConstraints getPathfindingConstraints()
      Gets the constraints for PathPlanner pathfinding.
      Returns:
      PathConstraints containing velocity and acceleration limits

    • getHolonomicDriveController

      com.pathplanner.lib.controllers.PPHolonomicDriveController getHolonomicDriveController()
      Gets the holonomic drive controller for path following.
      Returns:
      PPHolonomicDriveController for path following control

    • getPrecisionAlignHolonomicDriveController

      com.pathplanner.lib.controllers.PPHolonomicDriveController getPrecisionAlignHolonomicDriveController()
      Gets the precision align holonomic drive controller for path following.
      Returns:
      PPHolonomicDriveController for path following control

    • getSteerGains

      com.ctre.phoenix6.configs.Slot0Configs getSteerGains()
      Gets the PID gains for the steer motors.
      Returns:
      Slot0Configs containing PID and feedforward gains for steering

    • getDriveGains

      com.ctre.phoenix6.configs.Slot0Configs getDriveGains()
      Gets the PID gains for the drive motors.
      Returns:
      Slot0Configs containing PID and feedforward gains for driving

    • getModuleTranslations

      Translation2d[] getModuleTranslations()
      Gets the physical positions of all swerve modules relative to the robot center.
      Returns:
      Array of Translation2d representing module positions

    • getDriveFacingAnglePIDController

      ProfiledPIDController getDriveFacingAnglePIDController()
      Gets the PID controller for maintaining robot heading while driving.
      Returns:
      ProfiledPIDController for heading control

    • getPrecisionAlignTolerance

      double getPrecisionAlignTolerance()
      Gets the precision align tolerance (when it stops trying to correct)
      Returns:
      double of tolerance

    • getPrecisionAlignAllowRadius

      double getPrecisionAlignAllowRadius()
      Gets the radius in which precision align should function
      Returns:
      double of tolerance

    • getDriveTrainSimulationConfig

      org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig getDriveTrainSimulationConfig()
      Gets the simulation config for Maple-Sim
      Returns:
      The simulation config