Package frc.alotobots.library.subsystems.swervedrive.constants.mk4i2023

Class TunerConstants2023.CustomConstants

java.lang.Object

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

Enclosing class:

TunerConstants2023

public static class TunerConstants2023.CustomConstants
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final Distance	BUMPER_LENGTH
static final Distance	BUMPER_WIDTH
static final double	DRIVE_BASE_RADIUS
static final ProfiledPIDController	driveFacingAngleController
static final org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig	mapleSimConfig
static final double	MAX_MODULAR_ROTATIONAL_RATE
static final Translation2d[]	moduleTranslations
static final LinearVelocity	NOMINAL_SPEED
static final double	ODOMETRY_FREQUENCY
static final com.pathplanner.lib.path.PathConstraints	PATHFINDING_CONSTRAINTS
static final com.pathplanner.lib.config.RobotConfig	pathPlannerConfig
static final com.pathplanner.lib.controllers.PPHolonomicDriveController	PP_HOLONOMIC_DRIVE_CONTROLLER
static final com.pathplanner.lib.controllers.PPHolonomicDriveController	PRECISION_ALIGN_PP_HOLONOMIC_DRIVE_CONTROLLER
static final double	precisionAlignAllowRadius
static final com.pathplanner.lib.config.PIDConstants	precisionAlignrotationPid
static final double	precisionAlignTolerance
static final com.pathplanner.lib.config.PIDConstants	precisionAlignTranslationPid
static final Mass	ROBOT_MASS
static final double	ROBOT_MOI
static final com.pathplanner.lib.config.PIDConstants	rotationPid
static final com.pathplanner.lib.config.PIDConstants	translationPid
static final LinearVelocity	TURBO_SPEED
static final LinearVelocity	TURTLE_SPEED
static final double	WHEEL_COF

Constructor Summary

Constructors

Constructor	Description
CustomConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

translationPid

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

rotationPid

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

PATHFINDING_CONSTRAINTS

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

PP_HOLONOMIC_DRIVE_CONTROLLER

public static final com.pathplanner.lib.controllers.PPHolonomicDriveController PP_HOLONOMIC_DRIVE_CONTROLLER

precisionAlignTranslationPid

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

precisionAlignrotationPid

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

PRECISION_ALIGN_PP_HOLONOMIC_DRIVE_CONTROLLER

public static final com.pathplanner.lib.controllers.PPHolonomicDriveController PRECISION_ALIGN_PP_HOLONOMIC_DRIVE_CONTROLLER

precisionAlignTolerance

public static final double precisionAlignTolerance

See Also:

• Constant Field Values

precisionAlignAllowRadius

public static final double precisionAlignAllowRadius

See Also:

• Constant Field Values

driveFacingAngleController

public static final ProfiledPIDController driveFacingAngleController

ODOMETRY_FREQUENCY

public static final double ODOMETRY_FREQUENCY

BUMPER_LENGTH

public static final Distance BUMPER_LENGTH

BUMPER_WIDTH

public static final Distance BUMPER_WIDTH

TURTLE_SPEED

public static final LinearVelocity TURTLE_SPEED

NOMINAL_SPEED

public static final LinearVelocity NOMINAL_SPEED

TURBO_SPEED

public static final LinearVelocity TURBO_SPEED

MAX_MODULAR_ROTATIONAL_RATE

public static final double MAX_MODULAR_ROTATIONAL_RATE

ROBOT_MASS

public static final Mass ROBOT_MASS

ROBOT_MOI

public static final double ROBOT_MOI

See Also:

• Constant Field Values

WHEEL_COF

public static final double WHEEL_COF

moduleTranslations

public static final Translation2d[] moduleTranslations

pathPlannerConfig

public static final com.pathplanner.lib.config.RobotConfig pathPlannerConfig

DRIVE_BASE_RADIUS

public static final double DRIVE_BASE_RADIUS

mapleSimConfig

public static final org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig mapleSimConfig

Constructor Details

CustomConstants

public CustomConstants()