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FRC Paradigm Shift #1259
Documentation for the 2021 Robot
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FRC Paradigm Shift #1259
Documentation for the 2021 Robot
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Variables | |
| constexpr int | kNumSwerveModules = 4 |
| constexpr meter_t | kTrackWidth = 23.5_in |
| Distance between centers of left and right wheels on robot. More... | |
| constexpr meter_t | kWheelBase = 23.5_in |
| Distance between centers of front and back wheels on robot. More... | |
| constexpr bool | kGyroReversed = false |
| constexpr double | kFrontLeftOffset = 2689.0 |
| constexpr double | kFrontRightOffset = 205.0 |
| constexpr double | kRearRightOffset = 1858.0 |
| constexpr double | kRearLeftOffset = 983.0 |
| constexpr double | kPulseWidthToZeroOne = 4096.0 |
| constexpr double | kPulseWidthToRadians = 2.0 * wpi::math::pi / kPulseWidthToZeroOne |
Teleop Drive Constraints | |
| constexpr auto | kDriveSpeed = meters_per_second_t(3.5) |
| constexpr auto | kDriveAngularSpeed = radians_per_second_t(wpi::math::pi * 2.0) |
CAN bus IDs | |
CAN IDs for swerve modules | |
| constexpr int | kCanifierID = 0 |
| CANifier CAN ID (for absolute encoder PWM inputs) More... | |
| constexpr int | kFrontLeftDriveMotorPort = 1 |
| Front Left Drive CAN ID (TalonFX) More... | |
| constexpr int | kFrontLeftTurningMotorPort = 2 |
| Front Left Turn CAN ID (SparkMAX) More... | |
| constexpr int | kFrontRightDriveMotorPort = 3 |
| Front Right Drive CAN ID (TalonFX) More... | |
| constexpr int | kFrontRightTurningMotorPort = 4 |
| Front Right Turn CAN ID (SparkMAX) More... | |
| constexpr int | kRearRightDriveMotorPort = 5 |
| Rear Right Drive CAN ID (TalonFX) More... | |
| constexpr int | kRearRightTurningMotorPort = 6 |
| Rear Right Turn CAN ID (SparkMAX) More... | |
| constexpr int | kRearLeftDriveMotorPort = 7 |
| Rear Left Drive CAN ID (TalonFX) More... | |
| constexpr int | kRearLeftTurningMotorPort = 8 |
Canifier PWM channels | |
PWM channels for the canifier | |
| constexpr CANifier::PWMChannel | kFrontLeftPWM = CANifier::PWMChannel::PWMChannel0 |
| constexpr CANifier::PWMChannel | kFrontRightPWM = CANifier::PWMChannel::PWMChannel2 |
| constexpr CANifier::PWMChannel | kRearRightPWM = CANifier::PWMChannel::PWMChannel1 |
| constexpr CANifier::PWMChannel | kRearLeftPWM = CANifier::PWMChannel::PWMChannel3 |
Drive wheel reversal (inverting) flags | |
To keep the swerve module bevel gear facing inwards we need to reverse the right side | |
| constexpr bool | kFrontLeftDriveMotorReversed = true |
| constexpr bool | kRearLeftDriveMotorReversed = true |
| constexpr bool | kFrontRightDriveMotorReversed = false |
| constexpr bool | kRearRightDriveMotorReversed = false |
Robot RotationDrive PID Controller | |
Rotation PID Controller for Rotation Drive, converts between radians angle error to radians per second turn | |
| constexpr double | kRotationDriveP = 1 |
| constexpr double | kRotationDriveI = 0 |
| constexpr double | kRotationDriveIMaxRange = 0 |
| constexpr double | kRotationDriveD = 0.025 |
| constexpr double | kRotationDriveMaxSpeed = 3.5 |
| Max speed for control. More... | |
| constexpr double | kRotationDriveDirectionLimit = 3 |
| Speeds higher than value will prevent robot from changing directions for a turn. More... | |
| constexpr double | kRotationDriveTolerance = 0.07 |
| Tolerance for turning. More... | |
| constexpr int DriveConstants::kNumSwerveModules = 4 |
Definition at line 28 of file Constants.h.
| constexpr meter_t DriveConstants::kTrackWidth = 23.5_in |
Distance between centers of left and right wheels on robot.
Definition at line 31 of file Constants.h.
| constexpr meter_t DriveConstants::kWheelBase = 23.5_in |
Distance between centers of front and back wheels on robot.
Definition at line 33 of file Constants.h.
| constexpr auto DriveConstants::kDriveSpeed = meters_per_second_t(3.5) |
Definition at line 36 of file Constants.h.
| constexpr auto DriveConstants::kDriveAngularSpeed = radians_per_second_t(wpi::math::pi * 2.0) |
Definition at line 37 of file Constants.h.
| constexpr int DriveConstants::kCanifierID = 0 |
CANifier CAN ID (for absolute encoder PWM inputs)
Definition at line 42 of file Constants.h.
| constexpr int DriveConstants::kFrontLeftDriveMotorPort = 1 |
Front Left Drive CAN ID (TalonFX)
Definition at line 44 of file Constants.h.
| constexpr int DriveConstants::kFrontLeftTurningMotorPort = 2 |
Front Left Turn CAN ID (SparkMAX)
Definition at line 45 of file Constants.h.
| constexpr int DriveConstants::kFrontRightDriveMotorPort = 3 |
Front Right Drive CAN ID (TalonFX)
Definition at line 47 of file Constants.h.
| constexpr int DriveConstants::kFrontRightTurningMotorPort = 4 |
Front Right Turn CAN ID (SparkMAX)
Definition at line 48 of file Constants.h.
| constexpr int DriveConstants::kRearRightDriveMotorPort = 5 |
Rear Right Drive CAN ID (TalonFX)
Definition at line 50 of file Constants.h.
| constexpr int DriveConstants::kRearRightTurningMotorPort = 6 |
Rear Right Turn CAN ID (SparkMAX)
Definition at line 51 of file Constants.h.
| constexpr int DriveConstants::kRearLeftDriveMotorPort = 7 |
Rear Left Drive CAN ID (TalonFX)
Definition at line 53 of file Constants.h.
| constexpr int DriveConstants::kRearLeftTurningMotorPort = 8 |
Rear Left Turn CAN ID (SparkMAX)
Definition at line 54 of file Constants.h.
| constexpr CANifier::PWMChannel DriveConstants::kFrontLeftPWM = CANifier::PWMChannel::PWMChannel0 |
Definition at line 60 of file Constants.h.
| constexpr CANifier::PWMChannel DriveConstants::kFrontRightPWM = CANifier::PWMChannel::PWMChannel2 |
Definition at line 61 of file Constants.h.
| constexpr CANifier::PWMChannel DriveConstants::kRearRightPWM = CANifier::PWMChannel::PWMChannel1 |
Definition at line 62 of file Constants.h.
| constexpr CANifier::PWMChannel DriveConstants::kRearLeftPWM = CANifier::PWMChannel::PWMChannel3 |
Definition at line 63 of file Constants.h.
| constexpr bool DriveConstants::kFrontLeftDriveMotorReversed = true |
Definition at line 69 of file Constants.h.
| constexpr bool DriveConstants::kRearLeftDriveMotorReversed = true |
Definition at line 70 of file Constants.h.
| constexpr bool DriveConstants::kFrontRightDriveMotorReversed = false |
Definition at line 71 of file Constants.h.
| constexpr bool DriveConstants::kRearRightDriveMotorReversed = false |
Definition at line 72 of file Constants.h.
| constexpr bool DriveConstants::kGyroReversed = false |
Definition at line 75 of file Constants.h.
| constexpr double DriveConstants::kFrontLeftOffset = 2689.0 |
Definition at line 88 of file Constants.h.
| constexpr double DriveConstants::kFrontRightOffset = 205.0 |
Definition at line 89 of file Constants.h.
| constexpr double DriveConstants::kRearRightOffset = 1858.0 |
Definition at line 90 of file Constants.h.
| constexpr double DriveConstants::kRearLeftOffset = 983.0 |
Definition at line 91 of file Constants.h.
| constexpr double DriveConstants::kPulseWidthToZeroOne = 4096.0 |
Definition at line 98 of file Constants.h.
| constexpr double DriveConstants::kPulseWidthToRadians = 2.0 * wpi::math::pi / kPulseWidthToZeroOne |
Definition at line 99 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveP = 1 |
Definition at line 104 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveI = 0 |
Definition at line 105 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveIMaxRange = 0 |
Definition at line 106 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveD = 0.025 |
Definition at line 107 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveMaxSpeed = 3.5 |
Max speed for control.
Definition at line 109 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveDirectionLimit = 3 |
Speeds higher than value will prevent robot from changing directions for a turn.
Definition at line 111 of file Constants.h.
| constexpr double DriveConstants::kRotationDriveTolerance = 0.07 |
Tolerance for turning.
Definition at line 113 of file Constants.h.
1.8.11 
