ModuleConstants Namespace Reference

Variables
constexpr int	kEncoderCPR = 2048
constexpr int	kEncoderTicksPerSec = 10
	TalonFX::GetSelectedSensorVelocity() returns ticks/100ms = 10 ticks/sec. More...
constexpr double	kWheelDiameterMeters = .1016
	4" More...
constexpr double	kDriveGearRatio = 8.16
	MK3 swerve modules w/NEOs 12.1 ft/sec w/Falcon 13.6 ft/sec. More...
constexpr double	kTurnMotorRevsPerWheelRev = 12.8
constexpr double	kDriveEncoderMetersPerSec = kEncoderTicksPerSec / static_cast<double>(kEncoderCPR) / kDriveGearRatio * (kWheelDiameterMeters * wpi::math::pi)
constexpr double	kTurnEncoderCPR = 4096.0 / kTurnMotorRevsPerWheelRev
constexpr double	kP_ModuleTurningController = 1.1
constexpr double	kD_ModuleTurningController = 0.03
constexpr double	kPModuleDriveController = 0.001
constexpr uint	kMotorCurrentLimit = 30
Turn PID Controller for Swerve Modules
constexpr bool	kTurnAdjust = false
constexpr double	kTurnP = 0.75
constexpr double	kTurnI = 0.0
constexpr double	kTurnD = 0.0
constexpr double	kTurnIA = 0.0
constexpr double	kTurnIZ = 0.0
Drive PID Controller for Swerve Modules
constexpr bool	kDriveAdjust = false
constexpr double	kDriveP = 0.1
constexpr double	kDriveI = 0
constexpr double	kDriveD = 0
constexpr double	kDriveFF = 0.047619

Variable Documentation

constexpr int ModuleConstants::kEncoderCPR = 2048

Definition at line 119 of file Constants.h.

constexpr int ModuleConstants::kEncoderTicksPerSec = 10

TalonFX::GetSelectedSensorVelocity() returns ticks/100ms = 10 ticks/sec.

Definition at line 121 of file Constants.h.

constexpr double ModuleConstants::kWheelDiameterMeters = .1016

4"

Definition at line 122 of file Constants.h.

constexpr double ModuleConstants::kDriveGearRatio = 8.16

MK3 swerve modules w/NEOs 12.1 ft/sec w/Falcon 13.6 ft/sec.

Definition at line 124 of file Constants.h.

constexpr double ModuleConstants::kTurnMotorRevsPerWheelRev = 12.8

Definition at line 125 of file Constants.h.

constexpr double ModuleConstants::kDriveEncoderMetersPerSec = kEncoderTicksPerSec / static_cast<double>(kEncoderCPR) / kDriveGearRatio * (kWheelDiameterMeters * wpi::math::pi)

Assumes the encoders are directly mounted on the wheel shafts ticks / 100 ms -> ticks / s -> motor rev / s -> wheel rev / s -> m / s

Definition at line 128 of file Constants.h.

constexpr double ModuleConstants::kTurnEncoderCPR = 4096.0 / kTurnMotorRevsPerWheelRev

Definition at line 130 of file Constants.h.

constexpr double ModuleConstants::kP_ModuleTurningController = 1.1

Definition at line 132 of file Constants.h.

constexpr double ModuleConstants::kD_ModuleTurningController = 0.03

Definition at line 134 of file Constants.h.

constexpr double ModuleConstants::kPModuleDriveController = 0.001

Definition at line 135 of file Constants.h.

constexpr uint ModuleConstants::kMotorCurrentLimit = 30

Definition at line 137 of file Constants.h.

constexpr bool ModuleConstants::kTurnAdjust = false

Definition at line 141 of file Constants.h.

constexpr double ModuleConstants::kTurnP = 0.75

Definition at line 142 of file Constants.h.

constexpr double ModuleConstants::kTurnI = 0.0

Definition at line 143 of file Constants.h.

constexpr double ModuleConstants::kTurnD = 0.0

Definition at line 144 of file Constants.h.

constexpr double ModuleConstants::kTurnIA = 0.0

Definition at line 145 of file Constants.h.

constexpr double ModuleConstants::kTurnIZ = 0.0

Definition at line 146 of file Constants.h.

constexpr bool ModuleConstants::kDriveAdjust = false

Definition at line 151 of file Constants.h.

constexpr double ModuleConstants::kDriveP = 0.1

Definition at line 152 of file Constants.h.

constexpr double ModuleConstants::kDriveI = 0

Definition at line 153 of file Constants.h.

constexpr double ModuleConstants::kDriveD = 0

Definition at line 154 of file Constants.h.

constexpr double ModuleConstants::kDriveFF = 0.047619

Definition at line 155 of file Constants.h.