Constant Field Values

Contents

• frc.lib5k.*
• frc.robot.*

frc.lib5k.*

frc.lib5k.utils.Consts

Modifier and Type	Constant Field	Value
public static final double	kEpsilon	1.0E-9
public static final double	PI	3.14159

frc.robot.*

frc.robot.RobotConstants

Modifier and Type	Constant Field	Value
public static final boolean	ENABLE_PID_TUNING_OUTPUTS	true
public static final boolean	PUBLISH_SD_TELEMETRY	true

frc.robot.RobotConstants.Autonomous

Modifier and Type	Constant Field	Value
public static final double	AUTO_TARGET_DISTANCE_EPSILON	5.0
public static final double	SCORE_LATE_DELAY	5.0
public static final double	VISION_DISTANCE_KP	-0.1

frc.robot.RobotConstants.Climber

Modifier and Type	Constant Field	Value
public static final int	HIGH_HALL_ID	5
public static final int	LOW_HALL_ID	6
public static final int	MOTOR_CONTROLLER_ID	21
public static final int	PIN_RELEASE_SOLENOID	4

frc.robot.RobotConstants.ControlGains

Modifier and Type	Constant Field	Value
public static final double	kaVoltsSecondsSquaredPerMeter	2.64
public static final double	kDDriveVel	0.008
public static final double	kDTurnVel	0.0106
public static final double	kIDriveVel	0.0
public static final double	kITurnVel	0.01
public static final double	kMaxAccelerationMetersPerSecondSquared	1.5
public static final double	kMaxSpeedMetersPerSecond	3.0
public static final double	kPDriveVel	0.478
public static final double	kPTurnVel	0.0085
public static final double	kRamseteB	2.0
public static final double	kRamseteZeta	0.7
public static final double	kRP	0.05
public static final double	ksVolts	1.02
public static final double	kTrackWidthMeters	0.1524
public static final double	kvVoltsSecondsPerMeter	7.01

frc.robot.RobotConstants.DriveTrain.CurrentLimits

Modifier and Type	Constant Field	Value
public static final int	HOLD_AMPS	30
public static final int	PEAK_AMPS	33
public static final int	TIMEOUT_MS	15

frc.robot.RobotConstants.DriveTrain.Encoders

Modifier and Type	Constant Field	Value
public static final int	LEFT_ENCODER_SLOT	1
public static final boolean	LEFT_SENSOR_PHASE	false
public static final int	PULSES_PER_REVOLUTION	5760
public static final int	RIGHT_ENCODER_SLOT	1
public static final boolean	RIGHT_SENSOR_PHASE	false

frc.robot.RobotConstants.DriveTrain.Measurements

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	8.45
public static final int	MOTOR_MAX_RPM	5330

frc.robot.RobotConstants.DriveTrain.MotorControllers

Modifier and Type	Constant Field	Value
public static final int	LEFT_FRONT_TALON	1
public static final int	LEFT_REAR_TALON	2
public static final boolean	LEFT_SIDE_INVERTED	false
public static final int	RIGHT_FRONT_TALON	3
public static final int	RIGHT_REAR_TALON	4
public static final boolean	RIGHT_SIDE_INVERTED	true

frc.robot.RobotConstants.DriveTrain.Simulation

Modifier and Type	Constant Field	Value
public static final double	ENCODER_RAMP_RATE	0.12

frc.robot.RobotConstants.Hopper

Modifier and Type	Constant Field	Value
public static final int	CYCLES_BEFORE_INTAKE	10
public static final int	HOPPER_BELT_MOTOR	12
public static final boolean	HOPPER_BELT_MOTOR_INVERTED	true
public static final int	HOPPER_LINEBREAK_BOTTOM	2
public static final int	HOPPER_LINEBREAK_BOTTOM_POWER_CHANNEL	1
public static final int	HOPPER_LINEBREAK_MIDDLE	4
public static final int	HOPPER_LINEBREAK_MIDDLE_POWER_CHANNEL	2
public static final int	HOPPER_LINEBREAK_TOP	3
public static final int	HOPPER_LINEBREAK_TOP_POWER_CHANNEL	3
public static final double	RESET_TIMEOUT_SECONDS	4.0
public static final double	REVOLUTIONS_PER_INCH	2.0
public static final double	SHOOTER_FEED_SPEED	0.5

frc.robot.RobotConstants.HumanInputs

Modifier and Type	Constant Field	Value
public static final int	DRIVER_CONTROLLER_ID	0
public static final int	OPERATOR_CONTROLLER_ID	1

frc.robot.RobotConstants.HumanInputs.Deadbands

Modifier and Type	Constant Field	Value
public static final double	ROTATION_INPUT_DEADBAND	0.2

frc.robot.RobotConstants.Intake

Modifier and Type	Constant Field	Value
public static final double	ARM_DOWN_SPEED	0.35
public static final double	ARM_TICKS_PER_DEGREE	1000.0
public static final double	ARM_UP_SPEED	-0.85
public static final int	INTAKE_ACTUATOR_TALON	13
public static final boolean	INTAKE_ACTUATOR_TALON_INVERTED	false
public static final int	INTAKE_LIMIT_BOTTOM	0
public static final int	INTAKE_LIMIT_TOP	1
public static final int	INTAKE_ROLLER_TALON	14
public static final boolean	INTAKE_ROLLER_TALON_INVERTED	true
public static final double	kDArm	0.0
public static final double	kIArm	0.0
public static final double	kPArm	0.011111111111
public static final double	ROLLER_SPEED	0.4

frc.robot.RobotConstants.PanelManipulator

Modifier and Type	Constant Field	Value
public static final double	DEFAULT_COLOR_THRESHOLD	0.91
public static final int	DISTANCE_THRESHOLD	200
public static final int	MOTOR_ID	22
public static final int	SENSOR_BUFFER_SIZE	5
public static final double	SPINNER_SPEED	1.0

frc.robot.RobotConstants.Pneumatics

Modifier and Type	Constant Field	Value
public static final int	PCM_CAN_ID	8

frc.robot.RobotConstants.Shooter

Modifier and Type	Constant Field	Value
public static final double	DEFAULT_VELOCITY	3782.5
public static final double	kDVel	0.355
public static final double	kFF	0.0
public static final double	kIVel	3.0E-7
public static final double	kIz	0.0
public static final double	kPVel	4.8E-4
public static final double	LAUNCH_ANGLE	45.0
public static final double	LIMELIGHT_HEIGHT	1.0
public static final double	LIMELIGHT_MOUNT_ANGLE	13.0
public static final int	MOTOR_ID	16
public static final double	MOTOR_KV	371.0
public static final double	MOTOR_MAX_RPM	4450.0
public static final double	RPM_EPSILON	148.4
public static final double	TARGET_HEIGHT	2.49
public static final double	VOLTAGE_EPSILON	0.4