Package org.firstinspires.ftc.teamcode.fy23.robot.subsystems

Class RRMecanumDrive.DriveConstants

java.lang.Object
org.firstinspires.ftc.teamcode.fy23.robot.subsystems.RRMecanumDrive.DriveConstants
Enclosing interface:
RRMecanumDrive
public static class RRMecanumDrive.DriveConstants extends Object
See the RoadRunner Quickstart's DriveConstants class. The default values model a goBILDA Strafer using drive encoders for velocity control. On real robots, some calibration will be needed.

  • Field Details

    • TICKS_PER_REV

      public double TICKS_PER_REV

    • MAX_RPM

      public double MAX_RPM

    • RUN_USING_ENCODER

      public boolean RUN_USING_ENCODER

    • MOTOR_VELO_PID

      public com.qualcomm.robotcore.hardware.PIDFCoefficients MOTOR_VELO_PID

    • WHEEL_RADIUS

      public double WHEEL_RADIUS

    • GEAR_RATIO

      public double GEAR_RATIO

    • TRACK_WIDTH

      public double TRACK_WIDTH

    • kV

      public double kV

    • kA

      public double kA

    • kStatic

      public double kStatic

    • MAX_VEL

      public double MAX_VEL

    • MAX_ACCEL

      public double MAX_ACCEL
      The default value here (50 in./sec.) matches the default for MAX_VEL, so it takes 1 second to get to full speed. This may be slow, so make sure to adjust this.

    • MAX_ANG_VEL

      public double MAX_ANG_VEL

    • MAX_ANG_ACCEL

      public double MAX_ANG_ACCEL

    • LOGO_FACING_DIR

      public com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection LOGO_FACING_DIR
      The direction the REV logo on your Control Hub faces

    • USB_FACING_DIR

      public com.qualcomm.hardware.rev.RevHubOrientationOnRobot.UsbFacingDirection USB_FACING_DIR
      The direction the USB port on your Control Hub faces

  • Constructor Details

    • DriveConstants

      public DriveConstants()

  • Method Details

    • rpmToVelocity

      public double rpmToVelocity(double rpm)

    • getMotorVelocityF

      public double getMotorVelocityF(double ticksPerSecond)