Package frc.alotobots.reefscape.subsystems.elevator.constants

Class ElevatorTalonFXSimConstants.PIDConstants.ClimbingPIDConstants

java.lang.Object

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

Enclosing class:

ElevatorTalonFXSimConstants.PIDConstants

public static final class ElevatorTalonFXSimConstants.PIDConstants.ClimbingPIDConstants
extends Object

TalonFX-specific PID and motion control constants for climbing mode.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	KA	Acceleration feedforward gain
static final double	KD	Climbing control derivative gain
static final double	KG	Gravity compensation gain
static final double	KI	Climbing control integral gain
static final double	KP	Climbing control proportional gain
static final double	KS	Static friction compensation
static final double	KV	Velocity feedforward gain

Constructor Summary

Constructors

Constructor	Description
ClimbingPIDConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

KP

public static final double KP

Climbing control proportional gain

See Also:

• Constant Field Values

KI

public static final double KI

Climbing control integral gain

See Also:

• Constant Field Values

KD

public static final double KD

Climbing control derivative gain

See Also:

• Constant Field Values

KA

public static final double KA

Acceleration feedforward gain

See Also:

• Constant Field Values

KG

public static final double KG

Gravity compensation gain

See Also:

• Constant Field Values

KS

public static final double KS

Static friction compensation

See Also:

• Constant Field Values

KV

public static final double KV

Velocity feedforward gain

See Also:

• Constant Field Values

Constructor Details

ClimbingPIDConstants

public ClimbingPIDConstants()