Constant Field Values

Contents

• com.stuypulse.*
• tools.PathplannerFlip.*
• tools.util.*

com.stuypulse.*

com.stuypulse.robot.commands.compound.TunableWaitCommand

Modifier and Type	Constant Field	Value
private static final double	tunableDefaultValue	0.0

com.stuypulse.robot.constants.Gains.Intake

Modifier and Type	Constant Field	Value
public static final double	kD	75.0
public static final double	kI	0.0
public static final double	kP	300.0

com.stuypulse.robot.constants.Gains.Intake.Digestion

Modifier and Type	Constant Field	Value
public static final double	kD	75.0
public static final double	kI	0.0
public static final double	kP	325.0

com.stuypulse.robot.constants.Gains.Swerve.Alignment

Modifier and Type	Constant Field	Value
public static final double	akD	0.0
public static final double	akI	0.0
public static final double	akP	8.8624

com.stuypulse.robot.constants.Gains.Swerve.Drive

Modifier and Type	Constant Field	Value
public static final double	kA	0.0
public static final double	kD	0.0
public static final double	kI	0.0
public static final double	kP	0.1
public static final double	kS	0.0
public static final double	kV	0.124

com.stuypulse.robot.constants.Gains.Swerve.Turn

Modifier and Type	Constant Field	Value
public static final double	kA	0.0
public static final double	kD	0.5
public static final double	kI	0.0
public static final double	kP	100.0
public static final double	kS	0.1
public static final double	kV	2.66

com.stuypulse.robot.constants.Ports.Feeder

Modifier and Type	Constant Field	Value
public static final int	FEEDER_MOTOR	15

com.stuypulse.robot.constants.Ports.Gamepad

Modifier and Type	Constant Field	Value
public static final int	DEBUGGER	2
public static final int	DRIVER	0
public static final int	OPERATOR	1

com.stuypulse.robot.constants.Ports.Handoff

Modifier and Type	Constant Field	Value
public static final int	HANDOFF_MOTOR	50

com.stuypulse.robot.constants.Ports.Intake

Modifier and Type	Constant Field	Value
public static final int	INTAKE_PIVOT_MOTOR	10
public static final int	INTAKE_ROLLER_MOTOR_LEFT	22
public static final int	INTAKE_ROLLER_MOTOR_RIGHT	17
public static final int	PIVOT_LIMIT_SWITCH	0

com.stuypulse.robot.constants.Ports.LED

Modifier and Type	Constant Field	Value
public static final int	LED_PWM_PORT	0

com.stuypulse.robot.constants.Ports.Shooter

Modifier and Type	Constant Field	Value
public static final int	SHOOTER_MOTOR_CENTER	54
public static final int	SHOOTER_MOTOR_LEFT	30
public static final int	SHOOTER_MOTOR_RIGHT	47

com.stuypulse.robot.constants.Settings

Modifier and Type	Constant Field	Value
public static final boolean	DEBUG_MODE	true

com.stuypulse.robot.constants.Settings.Driver

Modifier and Type	Constant Field	Value
public static final double	BUZZ_INTENSITY	1.0
public static final double	BUZZ_TIME	1.0

com.stuypulse.robot.constants.Settings.Driver.Drive

Modifier and Type	Constant Field	Value
public static final double	DEADBAND	0.05
public static final double	POWER	2.0
public static final double	RC	0.05

com.stuypulse.robot.constants.Settings.Driver.Turn

Modifier and Type	Constant Field	Value
public static final double	DEADBAND	0.05
public static final double	POWER	2.0
public static final double	RC	0.05

com.stuypulse.robot.constants.Settings.Feeder

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	2.0

com.stuypulse.robot.constants.Settings.Handoff

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	0.3333333333333333
public static final double	J_KG_METERS_SQUARED	1.0
public static final double	STALL_CURRENT	67.0
public static final double	STALL_DEBOUNCE	67.0

com.stuypulse.robot.constants.Settings.Intake.Pivot

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	60.0

com.stuypulse.robot.constants.Settings.Intake.Roller

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	0.5925925925925926
public static final double	IDLE_DUTY_CYCLE	0.0
public static final double	INTAKE_DUTY_CYCLE	1.0
public static final double	OUTTAKE_DUTY_CYCLE	-1.0

com.stuypulse.robot.constants.Settings.LED

Modifier and Type	Constant Field	Value
public static final int	LED_LENGTH	80

com.stuypulse.robot.constants.Settings.Shooter

Modifier and Type	Constant Field	Value
public static final double	GEAR_RATIO	0.1

com.stuypulse.robot.constants.Settings.Swerve

Modifier and Type	Constant Field	Value
public static final double	MODULE_VELOCITY_DEADBAND_M_PER_S	0.1
public static final double	ROTATIONAL_DEADBAND_RAD_PER_S	0.1

com.stuypulse.robot.constants.Settings.Swerve.Alignment.Constraints

Modifier and Type	Constant Field	Value
public static final double	DEFAULT_MAX_ACCELERATION	15.0
public static final double	DEFAULT_MAX_VELOCITY	4.3

com.stuypulse.robot.constants.Settings.Swerve.Constraints

Modifier and Type	Constant Field	Value
public static final double	MAX_ACCEL_M_PER_S_SQUARED	20.0
public static final double	MAX_VELOCITY_M_PER_S	4.3

com.stuypulse.robot.constants.Settings.Vision

Modifier and Type	Constant Field	Value
public static final double	MAX_ANGULAR_VELOCITY_RAD_SEC	6.283185307179586

com.stuypulse.robot.subsystems.swerve.CommandSwerveDrivetrain

Modifier and Type	Constant Field	Value
private static final double	kSimLoopPeriod	0.005

com.stuypulse.robot.subsystems.swerve.TunerConstants

Modifier and Type	Constant Field	Value
private static final int	kBackLeftDriveMotorId	4
private static final int	kBackLeftEncoderId	16
private static final boolean	kBackLeftEncoderInverted	false
private static final int	kBackLeftSteerMotorId	15
private static final boolean	kBackLeftSteerMotorInverted	true
private static final int	kBackRightDriveMotorId	31
private static final int	kBackRightEncoderId	14
private static final boolean	kBackRightEncoderInverted	false
private static final int	kBackRightSteerMotorId	3
private static final boolean	kBackRightSteerMotorInverted	true
private static final double	kCoupleRatio	5.4
private static final double	kDriveGearRatio	6.48
private static final int	kFrontLeftDriveMotorId	60
private static final int	kFrontLeftEncoderId	11
private static final boolean	kFrontLeftEncoderInverted	false
private static final int	kFrontLeftSteerMotorId	1
private static final boolean	kFrontLeftSteerMotorInverted	true
private static final int	kFrontRightDriveMotorId	13
private static final int	kFrontRightEncoderId	2
private static final boolean	kFrontRightEncoderInverted	false
private static final int	kFrontRightSteerMotorId	12
private static final boolean	kFrontRightSteerMotorInverted	true
private static final boolean	kInvertLeftSide	false
private static final boolean	kInvertRightSide	true
private static final int	kPigeonId	30
private static final double	kSteerGearRatio	12.1

com.stuypulse.robot.util.TranslationMotionProfile

Modifier and Type	Constant Field	Value
private static final int	kDefaultSteps	64

com.stuypulse.robot.util.simulation.RobotVisualizer

Modifier and Type	Constant Field	Value
private static final double	CANVAS_HEIGHT	67.0
private static final double	CANVAS_WIDTH	67.0
private static final int	NUM_SPOKES	5

com.stuypulse.robot.util.simulation.SimulationConstants.Drivetrain

Modifier and Type	Constant Field	Value
public static final double	WHEEL_COF	1.2

com.stuypulse.robot.util.simulation.SimulationConstants.Hopper

Modifier and Type	Constant Field	Value
public static final int	FUEL_CAPACITY	54
public static final int	FUEL_LAYERS	4

com.stuypulse.robot.util.simulation.SimulationConstants.Intake

Modifier and Type	Constant Field	Value
public static final double	INTAKE_LENGTH	0.15
public static final double	INTAKE_WIDTH	0.5
public static final double	PIVOT_END_X	0.0

com.stuypulse.robot.util.simulation.SimulationConstants.Shooter

Modifier and Type	Constant Field	Value
public static final double	BPS	8.0

tools.PathplannerFlip.*

tools.PathplannerFlip.AutonFlip.PathplannerAutonFlip

Modifier and Type	Constant Field	Value
protected static final String	AUTON_DIR	"./src/main/deploy/pathplanner/autos/"

tools.PathplannerFlip.PathFlip.PathplannerPathFlip

Modifier and Type	Constant Field	Value
public static final double	FIELD_HEIGHT	8.0
public static final String	PATH_DIR	"./src/main/deploy/pathplanner/paths/"

tools.util.*

tools.util.AnsiColors

Modifier and Type	Constant Field	Value
public static final String	GREEN	"\u001b[32m"
public static final String	RED	"\u001b[31m"
public static final String	RESET	"\u001b[0m"
public static final String	YELLOW	"\u001b[33m"