Package frc.robot

Class Constants.CoralArmConstants

java.lang.Object
frc.robot.Constants.CoralArmConstants
Enclosing class:
Constants
public static final class Constants.CoralArmConstants extends Object
Constants for the coral arm mechanism (elevator and elbow).

  • Field Details

    • ELEVATOR_CAN_ID

      public static final int ELEVATOR_CAN_ID
      CAN ID for elevator motor.
      See Also:

    • ELEVATOR_DISTANCE_PER_ROTATION

      public static final edu.wpi.first.units.measure.Distance ELEVATOR_DISTANCE_PER_ROTATION
      Distance traveled per motor rotation.

    • ELEVATOR_BOTTOM_LIMIT_CHANNEL

      public static final int ELEVATOR_BOTTOM_LIMIT_CHANNEL
      DIO channel for elevator bottom limit switch
      See Also:

    • ELEVATOR_TOP_LIMIT_CHANNEL

      public static final int ELEVATOR_TOP_LIMIT_CHANNEL
      CANifier pin for elevator top limit
      See Also:

    • ELEVATOR_MIN_POSITION

      public static final edu.wpi.first.units.measure.Distance ELEVATOR_MIN_POSITION
      Minimum elevator height.

    • ELEVATOR_MAX_POSITION

      public static final edu.wpi.first.units.measure.Distance ELEVATOR_MAX_POSITION
      Maximum elevator height.

    • ELEVATOR_PID

      public static final PID ELEVATOR_PID
      PID constants for elevator control.

    • ELEVATOR_INVERTED

      public static final boolean ELEVATOR_INVERTED
      Whether elevator motor is inverted
      See Also:

    • ELEVATOR_ZEROING_POWER_UP

      public static final double ELEVATOR_ZEROING_POWER_UP
      Power to use when zeroing elevator up
      See Also:

    • ELEVATOR_ZEROING_POWER_DOWN

      public static final double ELEVATOR_ZEROING_POWER_DOWN
      Power to use when zeroing elevator down
      See Also:

    • ELEVATOR_RAMP_RATE

      public static final double ELEVATOR_RAMP_RATE
      Ramp rate for elevator motor (seconds from 0 to full throttle)
      See Also:

    • ELEVATOR_CURRENT_LIMIT

      public static final int ELEVATOR_CURRENT_LIMIT
      Current limit for elevator motor in amps
      See Also:

    • ELBOW_CAN_ID

      public static final int ELBOW_CAN_ID
      CAN ID for elbow motor.
      See Also:

    • ELBOW_ANGLE_PER_ROTATION

      public static final edu.wpi.first.units.measure.Angle ELBOW_ANGLE_PER_ROTATION
      Angle traveled per motor rotation.

    • ELBOW_FRONT_LIMIT_CHANNEL

      public static final int ELBOW_FRONT_LIMIT_CHANNEL
      DIO channel for elbow front limit switch
      See Also:

    • ELBOW_BACK_LIMIT_CHANNEL

      public static final int ELBOW_BACK_LIMIT_CHANNEL
      DIO channel for elbow back limit switch
      See Also:

    • ELBOW_FRONT_ANGLE

      public static final edu.wpi.first.units.measure.Angle ELBOW_FRONT_ANGLE
      Maximum elbow angle.

    • ELBOW_BACK_ANGLE

      public static final edu.wpi.first.units.measure.Angle ELBOW_BACK_ANGLE
      Minimum elbow angle.

    • ELBOW_PID

      public static final PID ELBOW_PID
      PID constants for elbow control.

    • ARM_LENGTH

      public static final edu.wpi.first.units.measure.Distance ARM_LENGTH
      Arm length.

    • ELBOW_INVERTED

      public static final boolean ELBOW_INVERTED
      Whether elbow motor is inverted
      See Also:

    • ELBOW_ZEROING_POWER

      public static final double ELBOW_ZEROING_POWER
      Power to use when zeroing elbow
      See Also:

    • ELBOW_RAMP_RATE

      public static final double ELBOW_RAMP_RATE
      Ramp rate for elbow motor (seconds from 0 to full throttle)
      See Also:

    • ELBOW_CURRENT_LIMIT

      public static final int ELBOW_CURRENT_LIMIT
      Current limit for elbow motor in amps
      See Also:

    • UNKNOWN_STATE_POWER

      public static final double UNKNOWN_STATE_POWER
      Power applied when zeroing unknown positions (-1.0 to 1.0).
      See Also:

    • POSITION_TOLERANCE

      public static final double POSITION_TOLERANCE
      Maximum allowed offset when hitting limit switches.
      See Also:

    • SAFE_ELEVATOR_HEIGHT

      public static final edu.wpi.first.units.measure.Distance SAFE_ELEVATOR_HEIGHT
      Safe elevator height.

    • SAFE_ANGLE_DEADZONE_FRONT

      public static final edu.wpi.first.units.measure.Angle SAFE_ANGLE_DEADZONE_FRONT
      Safe angle deadzone front

    • SAFE_ANGLE_DEADZONE_BACK

      public static final edu.wpi.first.units.measure.Angle SAFE_ANGLE_DEADZONE_BACK
      Safe angle deadzone back

    • ARM_SETPOINTS

      public static final Map<String,Constants.CoralArmConstants.ArmState> ARM_SETPOINTS
      Predefined arm positions