Package frc.alotobots.library.subsystems.swervedrive.constants.mk4i2023

Class TunerConstants2023.CustomConstants

java.lang.Object

frc.alotobots.library.subsystems.swervedrive.constants.mk4i2023.TunerConstants2023.CustomConstants

Enclosing class:

TunerConstants2023

public static class TunerConstants2023.CustomConstants
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final edu.wpi.first.units.measure.Distance	BUMPER_LENGTH
static final edu.wpi.first.units.measure.Distance	BUMPER_WIDTH
static final double	DRIVE_BASE_RADIUS
static final ProfiledPIDController	driveFacingAngleController
static final edu.wpi.first.units.measure.LinearVelocity	kNominalSpeed
static final edu.wpi.first.units.measure.LinearVelocity	kTurboSpeed
static final edu.wpi.first.units.measure.LinearVelocity	kTurtleSpeed
static final com.pathplanner.lib.path.PathConstraints	PATHFINDING_CONSTRAINTS
static final com.pathplanner.lib.config.RobotConfig	pathPlannerConfig
static final com.pathplanner.lib.controllers.PPHolonomicDriveController	PP_HOLONOMIC_DRIVE_CONTROLLER
static final double	ROBOT_MASS_KG
static final double	ROBOT_MOI
static final com.pathplanner.lib.config.PIDConstants	rotationPid
static final com.pathplanner.lib.config.PIDConstants	translationPid
static final double	WHEEL_COF

Constructor Summary

Constructors

Constructor	Description
CustomConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

translationPid

public static final com.pathplanner.lib.config.PIDConstants translationPid

rotationPid

public static final com.pathplanner.lib.config.PIDConstants rotationPid

PATHFINDING_CONSTRAINTS

public static final com.pathplanner.lib.path.PathConstraints PATHFINDING_CONSTRAINTS

PP_HOLONOMIC_DRIVE_CONTROLLER

public static final com.pathplanner.lib.controllers.PPHolonomicDriveController PP_HOLONOMIC_DRIVE_CONTROLLER

driveFacingAngleController

public static final ProfiledPIDController driveFacingAngleController

BUMPER_LENGTH

public static final edu.wpi.first.units.measure.Distance BUMPER_LENGTH

BUMPER_WIDTH

public static final edu.wpi.first.units.measure.Distance BUMPER_WIDTH

kTurtleSpeed

public static final edu.wpi.first.units.measure.LinearVelocity kTurtleSpeed

kNominalSpeed

public static final edu.wpi.first.units.measure.LinearVelocity kNominalSpeed

kTurboSpeed

public static final edu.wpi.first.units.measure.LinearVelocity kTurboSpeed

ROBOT_MASS_KG

public static final double ROBOT_MASS_KG

See Also:

• Constant Field Values

ROBOT_MOI

public static final double ROBOT_MOI

See Also:

• Constant Field Values

WHEEL_COF

public static final double WHEEL_COF

See Also:

• Constant Field Values

pathPlannerConfig

public static final com.pathplanner.lib.config.RobotConfig pathPlannerConfig

DRIVE_BASE_RADIUS

public static final double DRIVE_BASE_RADIUS

Constructor Details

CustomConstants

public CustomConstants()