Package frc.alotobots.library.subsystems.swervedrive.constants.mk4i2025

Class TunerConstants2025

java.lang.Object
frc.alotobots.library.subsystems.swervedrive.constants.mk4i2025.TunerConstants2025
All Implemented Interfaces:
TunerConstants
public class TunerConstants2025 extends Object implements TunerConstants

  • Constructor Details

    • TunerConstants2025

      public TunerConstants2025()

  • Method Details

    • getFrontLeft

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getFrontLeft()
      Description copied from interface: TunerConstants
      Gets the configuration constants for the front left swerve module.
      Specified by:
      getFrontLeft in interface TunerConstants
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the front left module

    • getFrontRight

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getFrontRight()
      Description copied from interface: TunerConstants
      Gets the configuration constants for the front right swerve module.
      Specified by:
      getFrontRight in interface TunerConstants
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the front right module

    • getBackLeft

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getBackLeft()
      Description copied from interface: TunerConstants
      Gets the configuration constants for the back left swerve module.
      Specified by:
      getBackLeft in interface TunerConstants
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the back left module

    • getBackRight

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getBackRight()
      Description copied from interface: TunerConstants
      Gets the configuration constants for the back right swerve module.
      Specified by:
      getBackRight in interface TunerConstants
      Returns:
      SwerveModuleConstants containing TalonFX and CANcoder configurations for the back right module

    • getDrivetrainConstants

      public com.ctre.phoenix6.swerve.SwerveDrivetrainConstants getDrivetrainConstants()
      Description copied from interface: TunerConstants
      Gets the general drivetrain constants for the swerve drive.
      Specified by:
      getDrivetrainConstants in interface TunerConstants
      Returns:
      SwerveDrivetrainConstants containing overall drivetrain configuration

    • getPathfindingConstraints

      public com.pathplanner.lib.path.PathConstraints getPathfindingConstraints()
      Description copied from interface: TunerConstants
      Gets the constraints for PathPlanner pathfinding.
      Specified by:
      getPathfindingConstraints in interface TunerConstants
      Returns:
      PathConstraints containing velocity and acceleration limits

    • getHolonomicDriveController

      public com.pathplanner.lib.controllers.PPHolonomicDriveController getHolonomicDriveController()
      Description copied from interface: TunerConstants
      Gets the holonomic drive controller for path following.
      Specified by:
      getHolonomicDriveController in interface TunerConstants
      Returns:
      PPHolonomicDriveController for path following control

    • getPrecisionAlignHolonomicDriveController

      public com.pathplanner.lib.controllers.PPHolonomicDriveController getPrecisionAlignHolonomicDriveController()
      Description copied from interface: TunerConstants
      Gets the precision align holonomic drive controller for path following.
      Specified by:
      getPrecisionAlignHolonomicDriveController in interface TunerConstants
      Returns:
      PPHolonomicDriveController for path following control

    • getBumperLength

      public Distance getBumperLength()
      Description copied from interface: TunerConstants
      Gets the length of the robot with bumpers.
      Specified by:
      getBumperLength in interface TunerConstants
      Returns:
      The bumper length as a Distance

    • getBumperWidth

      public Distance getBumperWidth()
      Description copied from interface: TunerConstants
      Gets the width of the robot with bumpers.
      Specified by:
      getBumperWidth in interface TunerConstants
      Returns:
      The bumper width as a Distance

    • getDriveBaseRadius

      public double getDriveBaseRadius()
      Description copied from interface: TunerConstants
      Gets the radius of the drive base from center to furthest module.
      Specified by:
      getDriveBaseRadius in interface TunerConstants
      Returns:
      The drive base radius in meters

    • getOdometryFrequency

      public double getOdometryFrequency()
      Description copied from interface: TunerConstants
      Gets the frequency at which odometry updates are processed.
      Specified by:
      getOdometryFrequency in interface TunerConstants
      Returns:
      The odometry update frequency in hertz

    • getSteerGains

      public com.ctre.phoenix6.configs.Slot0Configs getSteerGains()
      Description copied from interface: TunerConstants
      Gets the PID gains for the steer motors.
      Specified by:
      getSteerGains in interface TunerConstants
      Returns:
      Slot0Configs containing PID and feedforward gains for steering

    • getDriveGains

      public com.ctre.phoenix6.configs.Slot0Configs getDriveGains()
      Description copied from interface: TunerConstants
      Gets the PID gains for the drive motors.
      Specified by:
      getDriveGains in interface TunerConstants
      Returns:
      Slot0Configs containing PID and feedforward gains for driving

    • getSpeedAt12Volts

      public LinearVelocity getSpeedAt12Volts()
      Description copied from interface: TunerConstants
      Gets the robot's maximum speed at 12 volts.
      Specified by:
      getSpeedAt12Volts in interface TunerConstants
      Returns:
      The maximum speed as a LinearVelocity

    • getTurtleSpeed

      public LinearVelocity getTurtleSpeed()
      Description copied from interface: TunerConstants
      Gets the robot's reduced speed for precision control.
      Specified by:
      getTurtleSpeed in interface TunerConstants
      Returns:
      The turtle mode speed as a LinearVelocity

    • getNominalSpeed

      public LinearVelocity getNominalSpeed()
      Description copied from interface: TunerConstants
      Gets the robot's standard operating speed.
      Specified by:
      getNominalSpeed in interface TunerConstants
      Returns:
      The nominal speed as a LinearVelocity

    • getTurboSpeed

      public LinearVelocity getTurboSpeed()
      Description copied from interface: TunerConstants
      Gets the robot's maximum boosted speed.
      Specified by:
      getTurboSpeed in interface TunerConstants
      Returns:
      The turbo mode speed as a LinearVelocity

    • getMaxModularRotationalRate

      public double getMaxModularRotationalRate()
      Description copied from interface: TunerConstants
      Gets the maximum rotational rate of individual modules.
      Specified by:
      getMaxModularRotationalRate in interface TunerConstants
      Returns:
      The maximum rotational rate in radians per second

    • getPathPlannerConfig

      public com.pathplanner.lib.config.RobotConfig getPathPlannerConfig()
      Description copied from interface: TunerConstants
      Gets the PathPlanner configuration for the robot.
      Specified by:
      getPathPlannerConfig in interface TunerConstants
      Returns:
      RobotConfig containing PathPlanner-specific settings

    • getDriveFacingAnglePIDController

      public ProfiledPIDController getDriveFacingAnglePIDController()
      Description copied from interface: TunerConstants
      Gets the PID controller for maintaining robot heading while driving.
      Specified by:
      getDriveFacingAnglePIDController in interface TunerConstants
      Returns:
      ProfiledPIDController for heading control

    • getPrecisionAlignTolerance

      public double getPrecisionAlignTolerance()
      Description copied from interface: TunerConstants
      Gets the precision align tolerance (when it stops trying to correct)
      Specified by:
      getPrecisionAlignTolerance in interface TunerConstants
      Returns:
      double of tolerance

    • getPrecisionAlignAllowRadius

      public double getPrecisionAlignAllowRadius()
      Description copied from interface: TunerConstants
      Gets the radius in which precision align should function
      Specified by:
      getPrecisionAlignAllowRadius in interface TunerConstants
      Returns:
      double of tolerance

    • getDriveTrainSimulationConfig

      public org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig getDriveTrainSimulationConfig()
      Description copied from interface: TunerConstants
      Gets the simulation config for Maple-Sim
      Specified by:
      getDriveTrainSimulationConfig in interface TunerConstants
      Returns:
      The simulation config

    • getModuleTranslations

      public Translation2d[] getModuleTranslations()
      Description copied from interface: TunerConstants
      Gets the physical positions of all swerve modules relative to the robot center.
      Specified by:
      getModuleTranslations in interface TunerConstants
      Returns:
      Array of Translation2d representing module positions