Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.Constants.AutoConstants

Modifier and Type	Constant Field	Value
public static final double	rotation_kD	0.0
public static final double	rotation_kI	0.0
public static final double	rotation_kP	0.0
public static final double	translation_kD	0.0
public static final double	translation_kI	0.0
public static final double	translation_kP	0.0

frc.robot.Constants.ElevatorConstants

Modifier and Type	Constant Field	Value
public static final double	MAX_EXTENSION	5.3
public static final double	MAX_WRIST_ANGLE	0.195
public static final double	MIN_WRIST_ANGLE	-0.15

frc.robot.Constants.ElevatorConstants.ElevatorConfigs

Modifier and Type	Constant Field	Value
public static final double	kA	0.1
public static final double	kD	0.3
public static final double	kG	0.4
public static final double	kI	0.0
public static final double	kP	4.0
public static final double	kS	0.15
public static final double	kV	1.8

frc.robot.Constants.ElevatorConstants.ElevatorMotionMagic

Modifier and Type	Constant Field	Value
public static final double	ACCELERATION	6.0
public static final double	EXPO_kA	0.0
public static final double	EXPO_kV	0.0
public static final double	JERK	0.0
public static final double	VELOCITY	3.0

frc.robot.Constants.ElevatorConstants.ElevatorSetpoints

Modifier and Type	Constant Field	Value
public static final double	kBarge	5.2
public static final double	kIntake	0.05
public static final double	kIntakePrepare	0.5
public static final double	kL1	0.8
public static final double	kL2	1.6
public static final double	kL2Algae	1.5
public static final double	kL3	3.0
public static final double	kL3Algae	2.7
public static final double	kL4	5.2
public static final double	kProcessor	0.05
public static final double	kSource	0.487
public static final double	kStow	-0.01

frc.robot.Constants.ElevatorConstants.WristConfigs

Modifier and Type	Constant Field	Value
public static final double	kA	0.0
public static final double	kD	0.5
public static final double	kG	0.18
public static final double	kI	0.0
public static final double	kP	5.0
public static final double	kS	0.1
public static final double	kV	7.5

frc.robot.Constants.ElevatorConstants.WristMotionMagic

Modifier and Type	Constant Field	Value
public static final double	ACCELERATION	1.5
public static final double	EXPO_kA	0.0
public static final double	EXPO_kV	0.0
public static final double	JERK	0.0
public static final double	VELOCITY	0.5

frc.robot.Constants.ElevatorConstants.WristSetpoints

Modifier and Type	Constant Field	Value
public static final double	kIntake	-0.1
public static final double	kIntakePrepare	0.05
public static final double	kProcessor	0.05
public static final double	kReefAlgae	0.02
public static final double	kReefCoral	0.185
public static final double	kStow	0.185

frc.robot.Constants.FieldConstants.Reef

Modifier and Type	Constant Field	Value
public static final int	NUM_SIDES	6

frc.robot.Constants.IOConstants

Modifier and Type	Constant Field	Value
public static final int	COPILOT_PORT	1
public static final int	LEFT_BOARD_PORT	2
public static final int	MAIN_PORT	0
public static final int	RIGHT_BOARD_PORT	3

frc.robot.Constants.PortConstants

Modifier and Type	Constant Field	Value
public static final int	BACK_LEFT_CODER	5
public static final int	BACK_RIGHT_CODER	7
public static final int	CLIMBER_MOTOR_LEFT	12
public static final int	CLIMBER_MOTOR_RIGHT	13
public static final int	DRIVE_MOTOR_BACK_LEFT	6
public static final int	DRIVE_MOTOR_BACK_RIGHT	8
public static final int	DRIVE_MOTOR_FRONT_LEFT	2
public static final int	DRIVE_MOTOR_FRONT_RIGHT	4
public static final int	ELEVATOR_MOTOR	17
public static final int	FRONT_LEFT_CODER	1
public static final int	FRONT_RIGHT_CODER	3
public static final int	INTAKE_MOTOR	30
public static final int	SERVO_LEFT	0
public static final int	SERVO_RIGHT	1
public static final int	SHOOTER_MOTOR	27
public static final int	STEER_MOTOR_BACK_LEFT	5
public static final int	STEER_MOTOR_BACK_RIGHT	7
public static final int	STEER_MOTOR_FRONT_LEFT	1
public static final int	STEER_MOTOR_FRONT_RIGHT	3
public static final int	WRIST_MOTOR	14

frc.robot.Constants.RobotConstants

Modifier and Type	Constant Field	Value
public static final double	BASE_WIDTH	0.9
public static final double	LOOP_TIME_SECONDS	0.02

frc.robot.Constants.SwerveConstants

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	5.01
public static final double	MAX_SPEED	3.0
public static final double	MAX_STEER_SPEED	2.0
public static final double	OFFSET	0.31
public static final double	TURN_SPEED	2.5

frc.robot.Constants.SwerveConstants.DriveMotorConfigs

Modifier and Type	Constant Field	Value
public static final double	kA	0.7
public static final double	kD	0.07
public static final double	kG	0.0
public static final double	kI	0.0
public static final double	kP	0.3
public static final double	kS	0.14
public static final double	kV	0.6

frc.robot.Constants.SwerveConstants.SteerMotorConfigs

Modifier and Type	Constant Field	Value
public static final double	kA	0.0
public static final double	kD	0.1
public static final double	kG	0.0
public static final double	kI	0.0
public static final double	kP	15.0
public static final double	kS	0.13
public static final double	kV	0.0

frc.robot.Constants.SwerveConstants.Tracking

Modifier and Type	Constant Field	Value
public static final double	ALIGN_SEPARATION_TOLERANCE	0.15
public static final double	DEFAULT_DISTANCE	0.5
public static final double	DISTANCE_TOLERANCE	0.02
public static final double	MAX_ACCEL	5.0
public static final double	MAX_ALIGN_SEPARATION	0.5
public static final double	MAX_ANG_ACCEL	6.0
public static final double	MAX_ANG_DECEL	15.0
public static final double	MAX_ANG_SPEED	2.5
public static final double	MAX_DECEL	8.0
public static final double	MAX_SPEED	3.0

frc.robot.Constants.SwerveConstants.Tracking.PIDConstants.Angle

Modifier and Type	Constant Field	Value
public static final double	kD	0.0
public static final double	kI	0.0
public static final double	kP	1.5

frc.robot.Constants.SwerveConstants.Tracking.PIDConstants.Distance

Modifier and Type	Constant Field	Value
public static final double	kD	0.0
public static final double	kI	0.0
public static final double	kP	1.5

frc.robot.Constants.VisionConstants

Modifier and Type	Constant Field	Value
public static final int	SCREEN_HEIGHT	600
public static final int	SCREEN_WIDTH	800

frc.robot.Constants.VisionConstants.AlgaeParams

Modifier and Type	Constant Field	Value
public static final double	ANGULAR_TOLERANCE	0.3
public static final int	DETECTION_LIMIT	3
public static final double	DISTANCE_TOLERANCE	0.7
public static final int	EDGE_TOLERANCE	5
public static final double	MAX_TRACKING_DISTANCE	4.0
public static final double	MIN_BOUNDING_RATIO	0.7
public static final double	POSITION_TOLERANCE	0.8
public static final double	TRACKING_TIMEOUT	10.0

frc.robot.Constants.VisionConstants.CameraDistortion

Modifier and Type	Constant Field	Value
public static final double	k1	0.01909844064431134
public static final double	k2	-0.06833877284448357
public static final double	k3	0.004054963702231638
public static final double	k4	4.3824638804727323E-4
public static final double	k5	0.14324891388740463
public static final double	k6	-0.002369416441714424
public static final double	k7	0.002236617101813135
public static final double	k8	-0.006014121063178925

frc.robot.Constants.VisionConstants.CameraIntrinsics

Modifier and Type	Constant Field	Value
public static final double	c_x	353.4277563553747
public static final double	c_y	211.14820439067003
public static final double	f_x	552.4060255333238
public static final double	f_y	551.742860296023

frc.robot.Constants.VisionConstants.CameraTransforms.BackCamera

Modifier and Type	Constant Field	Value
public static final double	PITCH	0.0
public static final double	ROLL	0.0
public static final double	X	0.0
public static final double	Y	0.0
public static final double	YAW	0.0
public static final double	Z	0.0

frc.robot.Constants.VisionConstants.CameraTransforms.LeftCamera

Modifier and Type	Constant Field	Value
public static final double	PITCH	0.0
public static final double	ROLL	0.0
public static final double	X	0.15
public static final double	Y	0.3

frc.robot.Constants.VisionConstants.CameraTransforms.RightCamera

Modifier and Type	Constant Field	Value
public static final double	PITCH	0.0
public static final double	ROLL	0.0
public static final double	X	0.15
public static final double	Y	-0.3

frc.robot.Constants.VisionConstants.EstimationParams

Modifier and Type	Constant Field	Value
public static final double	a	261.3
public static final double	b	-0.044