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
     
    static final com.ctre.phoenix6.swerve.SwerveDrivetrainConstants
    DrivetrainConstants
     
    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
     
    static final com.ctre.phoenix6.CANBus
    kCANBus
     
    static final edu.wpi.first.units.measure.LinearVelocity
    kSpeedAt12Volts
     

  • 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

    • kCANBus

      public static final com.ctre.phoenix6.CANBus kCANBus

    • kSpeedAt12Volts

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

    • DrivetrainConstants

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

    • 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,.