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

Class WristTalonFXSimConstants

java.lang.Object

frc.alotobots.reefscape.subsystems.wrist.constants.WristTalonFXSimConstants

public class WristTalonFXSimConstants
extends Object

Contains constants specific to the simulated implementation of the wrist. These values are used to configure the physics simulation.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	WristTalonFXSimConstants.MotionMagicConstants

Field Summary

Fields

Modifier and Type	Field	Description
static final double	ARM_LENGTH	Length of the wrist arm in meters
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 double	INERTIA_KGM2	Moment of inertia of the wrist mechanism in kg⋅m²
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
WristTalonFXSimConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

INERTIA_KGM2

public static final double INERTIA_KGM2

Moment of inertia of the wrist mechanism in kg⋅m²

See Also:

• Constant Field Values

ARM_LENGTH

public static final double ARM_LENGTH

Length of the wrist arm in meters

See Also:

• Constant Field Values

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

WristTalonFXSimConstants

public WristTalonFXSimConstants()