Package frc.robot.subsystems.climb

Class ClimbConstants

java.lang.Object

frc.robot.subsystems.climb.ClimbConstants

public final class ClimbConstants
extends Object

Hardware and tuning constants for the climb subsystem.

Contains CAN IDs, current limits, and gearbox models for the climb mechanism.

Field Summary

Fields

Modifier and Type	Field	Description
static final int	CAN_ID	CAN ID for the lift mechanism motor.
static final Mass	CLIMBER_MASS	The mass of the climber mechanism in kilograms.
static final Voltage	DEFAULT_VOLTAGE	Default voltage used for lifting and lowering the mechanism.
static final Distance	DRUM_RADIUS	The radius of the winch drum when empty.
static final DCMotor	GEARBOX	The gearbox model for the lift motor.
static final Distance	LOWER_HEIGHT	Simulated lower travel limit.
static final Current	MOTOR_CURRENT_LIMIT	Maximum current limit for the lift motor to prevent thermal damage.
static final boolean	MOTOR_INVERTED	Inversion setting for the lift motor.
static final double	REDUCTION	Gear reduction on the climber
static final Force	SPRING_CONSTANT	The spring constant for the climber mechanism in Newtons per meter.
static final Distance	UPPER_HEIGHT	Simulated upper travel limit.

Constructor Summary

Constructors

Constructor	Description
ClimbConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

CAN_ID

public static final int CAN_ID

CAN ID for the lift mechanism motor.

See Also:

• Constant Field Values

MOTOR_CURRENT_LIMIT

public static final Current MOTOR_CURRENT_LIMIT

Maximum current limit for the lift motor to prevent thermal damage.

MOTOR_INVERTED

public static final boolean MOTOR_INVERTED

Inversion setting for the lift motor.

See Also:

• Constant Field Values

GEARBOX

public static final DCMotor GEARBOX

The gearbox model for the lift motor.

DEFAULT_VOLTAGE

public static final Voltage DEFAULT_VOLTAGE

Default voltage used for lifting and lowering the mechanism.

UPPER_HEIGHT

public static final Distance UPPER_HEIGHT

Simulated upper travel limit.

LOWER_HEIGHT

public static final Distance LOWER_HEIGHT

Simulated lower travel limit.

DRUM_RADIUS

public static final Distance DRUM_RADIUS

The radius of the winch drum when empty.

REDUCTION

public static final double REDUCTION

Gear reduction on the climber

See Also:

• Constant Field Values

CLIMBER_MASS

public static final Mass CLIMBER_MASS

The mass of the climber mechanism in kilograms.

SPRING_CONSTANT

public static final Force SPRING_CONSTANT

The spring constant for the climber mechanism in Newtons per meter.

Constructor Details

ClimbConstants

public ClimbConstants()