Package frc.robot.subsystems.intake.spinner

Class SpinnerConstants

java.lang.Object

frc.robot.subsystems.intake.spinner.SpinnerConstants

public final class SpinnerConstants
extends Object

Hardware and tuning constants for the intake subsystem.

Field Summary

Fields

Modifier and Type	Field	Description
static final int	CAN_ID	CAN ID for the roller spinner motor.
static final Voltage	EXTAKE_VOLTAGE	Voltage for pushing game pieces out.
static final DCMotor	GEARBOX	The motor type and quantity used by the spinner gearbox.
static final Voltage	INTAKE_VOLTAGE	Voltage for pulling game pieces in.
static final double	INTERNAL_ENCODER_POSITION_FACTOR	Converts internal motor rotations to radians for the spinner.
static final double	INTERNAL_ENCODER_VELOCITY_FACTOR	Converts internal motor velocity (RPM) to radians per second for the spinner.
static final Current	MOTOR_CURRENT_LIMIT	Max current draw for the spinner motor.
static final boolean	MOTOR_INVERTED	Whether the spinner motor is inverted.
static final double	REDUCTION	Gear ratio: 2.13 motor rotations = 1 output shaft rotation for the spinner.

Constructor Summary

Constructors

Constructor	Description
SpinnerConstants()

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 roller spinner motor.

See Also:

• Constant Field Values

MOTOR_INVERTED

public static final boolean MOTOR_INVERTED

Whether the spinner motor is inverted.

See Also:

• Constant Field Values

REDUCTION

public static final double REDUCTION

Gear ratio: 2.13 motor rotations = 1 output shaft rotation for the spinner.

See Also:

• Constant Field Values

INTERNAL_ENCODER_POSITION_FACTOR

public static final double INTERNAL_ENCODER_POSITION_FACTOR

Converts internal motor rotations to radians for the spinner.

See Also:

• Constant Field Values

INTERNAL_ENCODER_VELOCITY_FACTOR

public static final double INTERNAL_ENCODER_VELOCITY_FACTOR

Converts internal motor velocity (RPM) to radians per second for the spinner.

See Also:

• Constant Field Values

MOTOR_CURRENT_LIMIT

public static final Current MOTOR_CURRENT_LIMIT

Max current draw for the spinner motor.

INTAKE_VOLTAGE

public static final Voltage INTAKE_VOLTAGE

Voltage for pulling game pieces in.

EXTAKE_VOLTAGE

public static final Voltage EXTAKE_VOLTAGE

Voltage for pushing game pieces out.

GEARBOX

public static final DCMotor GEARBOX

The motor type and quantity used by the spinner gearbox.

Constructor Details

SpinnerConstants

public SpinnerConstants()