Package com.stuypulse.robot.subsystems.swerve

Class TunerConstants

java.lang.Object

com.stuypulse.robot.subsystems.swerve.TunerConstants

public class TunerConstants
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TunerConstants.TunerSwerveDrivetrain	Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.

Field Summary

Fields

Modifier and Type	Field	Description
static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>	BackLeft
static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>	BackRight
private static final com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>	ConstantCreator
private static final com.ctre.phoenix6.configs.Slot0Configs	driveGains
private static final com.ctre.phoenix6.configs.TalonFXConfiguration	driveInitialConfigs
static final com.ctre.phoenix6.swerve.SwerveDrivetrainConstants	DrivetrainConstants
private static final com.ctre.phoenix6.configs.CANcoderConfiguration	encoderInitialConfigs
static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>	FrontLeft
static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>	FrontRight
private static final int	kBackLeftDriveMotorId
private static final int	kBackLeftEncoderId
private static final boolean	kBackLeftEncoderInverted
private static final edu.wpi.first.units.measure.Angle	kBackLeftEncoderOffset
private static final int	kBackLeftSteerMotorId
private static final boolean	kBackLeftSteerMotorInverted
private static final edu.wpi.first.units.measure.Distance	kBackLeftXPos
private static final edu.wpi.first.units.measure.Distance	kBackLeftYPos
private static final int	kBackRightDriveMotorId
private static final int	kBackRightEncoderId
private static final boolean	kBackRightEncoderInverted
private static final edu.wpi.first.units.measure.Angle	kBackRightEncoderOffset
private static final int	kBackRightSteerMotorId
private static final boolean	kBackRightSteerMotorInverted
private static final edu.wpi.first.units.measure.Distance	kBackRightXPos
private static final edu.wpi.first.units.measure.Distance	kBackRightYPos
static final com.ctre.phoenix6.CANBus	kCANBus
private static final double	kCoupleRatio
private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType	kDriveClosedLoopOutput
private static final edu.wpi.first.units.measure.Voltage	kDriveFrictionVoltage
private static final double	kDriveGearRatio
private static final edu.wpi.first.units.measure.MomentOfInertia	kDriveInertia
private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement	kDriveMotorType
private static final int	kFrontLeftDriveMotorId
private static final int	kFrontLeftEncoderId
private static final boolean	kFrontLeftEncoderInverted
private static final edu.wpi.first.units.measure.Angle	kFrontLeftEncoderOffset
private static final int	kFrontLeftSteerMotorId
private static final boolean	kFrontLeftSteerMotorInverted
private static final edu.wpi.first.units.measure.Distance	kFrontLeftXPos
private static final edu.wpi.first.units.measure.Distance	kFrontLeftYPos
private static final int	kFrontRightDriveMotorId
private static final int	kFrontRightEncoderId
private static final boolean	kFrontRightEncoderInverted
private static final edu.wpi.first.units.measure.Angle	kFrontRightEncoderOffset
private static final int	kFrontRightSteerMotorId
private static final boolean	kFrontRightSteerMotorInverted
private static final edu.wpi.first.units.measure.Distance	kFrontRightXPos
private static final edu.wpi.first.units.measure.Distance	kFrontRightYPos
private static final boolean	kInvertLeftSide
private static final boolean	kInvertRightSide
private static final int	kPigeonId
private static final edu.wpi.first.units.measure.Current	kSlipCurrent
static final edu.wpi.first.units.measure.LinearVelocity	kSpeedAt12Volts
private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType	kSteerClosedLoopOutput
private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType	kSteerFeedbackType
private static final edu.wpi.first.units.measure.Voltage	kSteerFrictionVoltage
private static final double	kSteerGearRatio
private static final edu.wpi.first.units.measure.MomentOfInertia	kSteerInertia
private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement	kSteerMotorType
private static final edu.wpi.first.units.measure.Distance	kWheelRadius
private static final com.ctre.phoenix6.configs.Pigeon2Configuration	pigeonConfigs
private static final com.ctre.phoenix6.configs.Slot0Configs	steerGains
private static final com.ctre.phoenix6.configs.TalonFXConfiguration	steerInitialConfigs

Constructor Summary

Constructors

Constructor	Description
TunerConstants()

Method Summary

Modifier and Type	Method	Description
static CommandSwerveDrivetrain	createDrivetrain()	Creates a CommandSwerveDrivetrain instance.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

steerGains

private static final com.ctre.phoenix6.configs.Slot0Configs steerGains

driveGains

private static final com.ctre.phoenix6.configs.Slot0Configs driveGains

kSteerClosedLoopOutput

private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType kSteerClosedLoopOutput

kDriveClosedLoopOutput

private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType kDriveClosedLoopOutput

kDriveMotorType

private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement kDriveMotorType

kSteerMotorType

private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement kSteerMotorType

kSteerFeedbackType

private static final com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType kSteerFeedbackType

kSlipCurrent

private static final edu.wpi.first.units.measure.Current kSlipCurrent

driveInitialConfigs

private static final com.ctre.phoenix6.configs.TalonFXConfiguration driveInitialConfigs

steerInitialConfigs

private static final com.ctre.phoenix6.configs.TalonFXConfiguration steerInitialConfigs

encoderInitialConfigs

private static final com.ctre.phoenix6.configs.CANcoderConfiguration encoderInitialConfigs

pigeonConfigs

private static final com.ctre.phoenix6.configs.Pigeon2Configuration pigeonConfigs

kCANBus

public static final com.ctre.phoenix6.CANBus kCANBus

kSpeedAt12Volts

public static final edu.wpi.first.units.measure.LinearVelocity kSpeedAt12Volts

kCoupleRatio

private static final double kCoupleRatio

See Also:

• Constant Field Values

kDriveGearRatio

private static final double kDriveGearRatio

See Also:

• Constant Field Values

kSteerGearRatio

private static final double kSteerGearRatio

See Also:

• Constant Field Values

kWheelRadius

private static final edu.wpi.first.units.measure.Distance kWheelRadius

kInvertLeftSide

private static final boolean kInvertLeftSide

See Also:

• Constant Field Values

kInvertRightSide

private static final boolean kInvertRightSide

See Also:

• Constant Field Values

kPigeonId

private static final int kPigeonId

See Also:

• Constant Field Values

kSteerInertia

private static final edu.wpi.first.units.measure.MomentOfInertia kSteerInertia

kDriveInertia

private static final edu.wpi.first.units.measure.MomentOfInertia kDriveInertia

kSteerFrictionVoltage

private static final edu.wpi.first.units.measure.Voltage kSteerFrictionVoltage

kDriveFrictionVoltage

private static final edu.wpi.first.units.measure.Voltage kDriveFrictionVoltage

DrivetrainConstants

public static final com.ctre.phoenix6.swerve.SwerveDrivetrainConstants DrivetrainConstants

ConstantCreator

private static final com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> ConstantCreator

kFrontLeftDriveMotorId

private static final int kFrontLeftDriveMotorId

See Also:

• Constant Field Values

kFrontLeftSteerMotorId

private static final int kFrontLeftSteerMotorId

See Also:

• Constant Field Values

kFrontLeftEncoderId

private static final int kFrontLeftEncoderId

See Also:

• Constant Field Values

kFrontLeftEncoderOffset

private static final edu.wpi.first.units.measure.Angle kFrontLeftEncoderOffset

kFrontLeftSteerMotorInverted

private static final boolean kFrontLeftSteerMotorInverted

See Also:

• Constant Field Values

kFrontLeftEncoderInverted

private static final boolean kFrontLeftEncoderInverted

See Also:

• Constant Field Values

kFrontLeftXPos

private static final edu.wpi.first.units.measure.Distance kFrontLeftXPos

kFrontLeftYPos

private static final edu.wpi.first.units.measure.Distance kFrontLeftYPos

kFrontRightDriveMotorId

private static final int kFrontRightDriveMotorId

See Also:

• Constant Field Values

kFrontRightSteerMotorId

private static final int kFrontRightSteerMotorId

See Also:

• Constant Field Values

kFrontRightEncoderId

private static final int kFrontRightEncoderId

See Also:

• Constant Field Values

kFrontRightEncoderOffset

private static final edu.wpi.first.units.measure.Angle kFrontRightEncoderOffset

kFrontRightSteerMotorInverted

private static final boolean kFrontRightSteerMotorInverted

See Also:

• Constant Field Values

kFrontRightEncoderInverted

private static final boolean kFrontRightEncoderInverted

See Also:

• Constant Field Values

kFrontRightXPos

private static final edu.wpi.first.units.measure.Distance kFrontRightXPos

kFrontRightYPos

private static final edu.wpi.first.units.measure.Distance kFrontRightYPos

kBackLeftDriveMotorId

private static final int kBackLeftDriveMotorId

See Also:

• Constant Field Values

kBackLeftSteerMotorId

private static final int kBackLeftSteerMotorId

See Also:

• Constant Field Values

kBackLeftEncoderId

private static final int kBackLeftEncoderId

See Also:

• Constant Field Values

kBackLeftEncoderOffset

private static final edu.wpi.first.units.measure.Angle kBackLeftEncoderOffset

kBackLeftSteerMotorInverted

private static final boolean kBackLeftSteerMotorInverted

See Also:

• Constant Field Values

kBackLeftEncoderInverted

private static final boolean kBackLeftEncoderInverted

See Also:

• Constant Field Values

kBackLeftXPos

private static final edu.wpi.first.units.measure.Distance kBackLeftXPos

kBackLeftYPos

private static final edu.wpi.first.units.measure.Distance kBackLeftYPos

kBackRightDriveMotorId

private static final int kBackRightDriveMotorId

See Also:

• Constant Field Values

kBackRightSteerMotorId

private static final int kBackRightSteerMotorId

See Also:

• Constant Field Values

kBackRightEncoderId

private static final int kBackRightEncoderId

See Also:

• Constant Field Values

kBackRightEncoderOffset

private static final edu.wpi.first.units.measure.Angle kBackRightEncoderOffset

kBackRightSteerMotorInverted

private static final boolean kBackRightSteerMotorInverted

See Also:

• Constant Field Values

kBackRightEncoderInverted

private static final boolean kBackRightEncoderInverted

See Also:

• Constant Field Values

kBackRightXPos

private static final edu.wpi.first.units.measure.Distance kBackRightXPos

kBackRightYPos

private static final edu.wpi.first.units.measure.Distance kBackRightYPos

FrontLeft

public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> FrontLeft

FrontRight

public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> FrontRight

BackLeft

public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> BackLeft

BackRight

public static final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> BackRight

Constructor Details

TunerConstants

public TunerConstants()

Method Details

createDrivetrain

public static CommandSwerveDrivetrain createDrivetrain()

Creates a CommandSwerveDrivetrain instance. This should only be called once in your robot program,.