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

Class WristTalonFXRealConstants

java.lang.Object

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

public class WristTalonFXRealConstants
extends Object

Contains TalonFX-specific constants for the real robot implementation of the wrist. Includes PID values, motor configuration, and safety limits.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	WristTalonFXRealConstants.MotionMagicConstants
static final class	WristTalonFXRealConstants.MotorSafetyLimits	Contains safety limit constants for the wrist motors.
static final class	WristTalonFXRealConstants.PIDConstants	Contains PID and motion control constants for different control modes.

Field Summary

Fields

Modifier and Type	Field	Description
static final com.ctre.phoenix6.signals.SensorDirectionValue	ENCODER_DIRECTION	Direction of the encoder rotation
static final double	ENCODER_MAGNET_OFFSET	Magnet offset for the CANCoder absolute position
static final com.ctre.phoenix6.signals.NeutralModeValue	MECHANISM_NEUTRAL_MODE	Neutral mode (brake/coast) setting for the mechanism
static final com.ctre.phoenix6.signals.InvertedValue	MOTOR_DIRECTION	Direction of the motor rotation
static final int	ROTOR_TO_SENSOR_RATIO	Gear ratio between motor rotation and mechanism rotation

Constructor Summary

Constructors

Constructor	Description
WristTalonFXRealConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

MOTOR_DIRECTION

public static final com.ctre.phoenix6.signals.InvertedValue MOTOR_DIRECTION

Direction of the motor rotation

ENCODER_DIRECTION

public static final com.ctre.phoenix6.signals.SensorDirectionValue ENCODER_DIRECTION

Direction of the encoder rotation

MECHANISM_NEUTRAL_MODE

public static final com.ctre.phoenix6.signals.NeutralModeValue MECHANISM_NEUTRAL_MODE

Neutral mode (brake/coast) setting for the mechanism

ROTOR_TO_SENSOR_RATIO

public static final int ROTOR_TO_SENSOR_RATIO

Gear ratio between motor rotation and mechanism rotation

See Also:

• Constant Field Values

ENCODER_MAGNET_OFFSET

public static final double ENCODER_MAGNET_OFFSET

Magnet offset for the CANCoder absolute position

See Also:

• Constant Field Values

Constructor Details

WristTalonFXRealConstants

public WristTalonFXRealConstants()