Package frc.robot.subsystems.intake.arm

Class ArmConstants

java.lang.Object
frc.robot.subsystems.intake.arm.ArmConstants
public final class ArmConstants extends Object
Hardware and tuning constants for the intake subsystem.

  • Field Details

    • CAN_ID

      public static final int CAN_ID
      CAN ID for the arm lifting motor.
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    • MOTOR_INVERTED

      public static final boolean MOTOR_INVERTED
      Whether the arm motor is inverted.
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    • GLOBAL_ENCODER_REDUCTION

      public static final double GLOBAL_ENCODER_REDUCTION
      Gear ratio from internal encoder to global encoder.
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    • OUTPUT_SHAFT_REDUCTION

      public static final double OUTPUT_SHAFT_REDUCTION
      Gear ratio from global encoder to output shaft.
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    • TOTAL_REDUCTION

      public static final double TOTAL_REDUCTION
      Gear ratio from internal encoder to output shaft.
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    • INTERNAL_ENCODER_POSITION_FACTOR

      public static final double INTERNAL_ENCODER_POSITION_FACTOR
      Converts internal motor rotations to radians for the arm.
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    • INTERNAL_ENCODER_VELOCITY_FACTOR

      public static final double INTERNAL_ENCODER_VELOCITY_FACTOR
      Converts internal motor velocity (RPM) to radians per second for the arm.
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    • GLOBAL_ENCODER_POSITION_FACTOR

      public static final double GLOBAL_ENCODER_POSITION_FACTOR
      Converts absolute encoder position to radians for the arm.
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    • GLOBAL_ENCODER_VELOCITY_FACTOR

      public static final double GLOBAL_ENCODER_VELOCITY_FACTOR
      Converts absolute encoder velocity (RPM) to radians per second for the arm.
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    • GLOBAL_ENCODER_OFFSET

      public static final double GLOBAL_ENCODER_OFFSET
      Absolute encoder offset.
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    • MOTOR_CURRENT_LIMIT

      public static final Current MOTOR_CURRENT_LIMIT
      Max current draw for the arm motor.

    • KP

      public static final double KP
      Proportional gain for arm position control.
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    • KD

      public static final double KD
      Derivative gain for arm position control.
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    • KS

      public static final double KS
      Static friction feedforward gain for the arm.
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    • KG

      public static final double KG
      Gravity feedforward gain for the arm.
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    • KV

      public static final double KV
      Velocity feedforward gain for the arm.
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    • KA

      public static final double KA
      Acceleration feedforward gain for the arm.
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    • CRUISE_VELOCITY

      public static final AngularVelocity CRUISE_VELOCITY
      Maximum angular velocity for the arm during movement.

    • MAX_ACCELERATION

      public static final AngularAcceleration MAX_ACCELERATION
      Maximum angular acceleration for the arm during movement.

    • DEPLOYED_POSITION

      public static final Angle DEPLOYED_POSITION
      Angle of the arm when fully deployed for intaking.

    • RETRACTED_POSITION

      public static final Angle RETRACTED_POSITION
      Angle of the arm when fully retracted inside the robot perimeter.

    • PID_TOLERANCE

      public static final Angle PID_TOLERANCE
      Tolerance for considering the arm at a specific PID setpoint.

    • STATE_TOLERANCE

      public static final Angle STATE_TOLERANCE
      Tolerance for considering the arm to be physically in the desired state.

    • SOFT_LIMIT_TOLERANCE

      public static final Angle SOFT_LIMIT_TOLERANCE
      Safety buffer for soft limits.

    • GEARBOX

      public static final DCMotor GEARBOX
      The motor model and quantity used for the arm gearbox.

    • VELOCITY_GATE

      public static final AngularVelocity VELOCITY_GATE
      Maximum angular velocity for the arm to be considered "still".

    • ERROR_THRESHOLD

      public static final Angle ERROR_THRESHOLD
      Maximum allowable error between internal and absolute encoder positions.

    • ARM_LENGTH

      public static final Distance ARM_LENGTH
      Length of the arm.

    • ARM_MOMENT_OF_INERTIA

      public static final MomentOfInertia ARM_MOMENT_OF_INERTIA
      Moment of inertia for the arm.

  • Constructor Details

    • ArmConstants

      public ArmConstants()