001/************************ PROJECT ZIXI ************************/
002/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved.*/
003/* This work is licensed under the terms of the MIT license.  */
004/**************************************************************/
005package com.stuypulse.robot.subsystems.swerve;
006
007import static org.wpilib.units.Units.RadiansPerSecond;
008import static org.wpilib.units.Units.RadiansPerSecondPerSecond;
009import static org.wpilib.units.Units.Seconds;
010
011import org.wpilib.units.measure.AngularAcceleration;
012import org.wpilib.units.measure.AngularVelocity;
013import org.wpilib.units.measure.Time;
014
015public interface SwerveConstants {
016    public interface Characterization {
017        Time FF_START_DELAY = Seconds.of(1);
018        double FF_RAMP_RATE = 1;
019
020        AngularVelocity WHEEL_RADIUS_MAX_VELOCITY = RadiansPerSecond.of(0.25);
021        AngularAcceleration WHEEL_RADIUS_RAMP_RATE = RadiansPerSecondPerSecond.of(0.05);
022    }
023}