Package frc.alotobots.reefscape.subsystems.wrist.constants

Class WristTalonFXRealConstants.PIDConstants.VelocityPIDConstants

java.lang.Object

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

Enclosing class:

WristTalonFXRealConstants.PIDConstants

public static final class WristTalonFXRealConstants.PIDConstants.VelocityPIDConstants
extends Object

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

Field Summary

Fields

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

Constructor Summary

Constructors

Constructor	Description
VelocityPIDConstants()

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

Position control proportional gain

See Also:

• Constant Field Values

KI

public static final double KI

Position control integral gain

See Also:

• Constant Field Values

KD

public static final double KD

Position 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

VelocityPIDConstants

public VelocityPIDConstants()