robot2024/frc.team449.robot2024.constants.subsystem/PivotConstants

PivotConstants

object PivotConstants

Properties

val AMP_ANGLE: Double

val AMP_TOL: Double

val AMP_VEL_TOL: Double

const val ARM_LENGTH: Double = 1.0

const val AUTO_ACCEL: Double = 5.75

AUTO_MAX_POS_ERROR

val AUTO_MAX_POS_ERROR: Double

AUTO_POS_TOLERANCE

val AUTO_POS_TOLERANCE: Double

AUTO_VEL_TOLERANCE

val AUTO_VEL_TOLERANCE: Double

val CLIMB_ANGLE: Double

CONTROL_EFFORT_VOLTS

const val CONTROL_EFFORT_VOLTS: Double = 12.0

val CPR: Int = 2048

const val CURRENT_LIM: Int = 40

const val EFFICIENCY: Double = 0.875

const val ENC_CHANNEL: Int = 0

Encoder stuff

const val ENC_INVERTED: Boolean = true

ENCODER_POS_DEVIATION

val ENCODER_POS_DEVIATION: Double

FAST_POS_TOLERANCE

val FAST_POS_TOLERANCE: Double

LQR Position and Velocity tolerances for fast Controller

FAST_VEL_TOLERANCE

val FAST_VEL_TOLERANCE: Double

const val FOLLOWER_ID: Int = 12

FOLLOWER_INVERTED

const val FOLLOWER_INVERTED: Boolean = false

const val GEARING: Double

const val INVERTED: Boolean = false

val KG_OFFSET: Double

val MAX_ACCEL: Double

val MAX_ANGLE: Double

val MAX_POS_ERROR: Double

val MAX_VEL_ERROR: Double

val MAX_VELOCITY: Double

Profile Constraints

const val MAX_VOLTAGE: Double = 12.0

val MIN_ANGLE: Double

MODEL_INPUT_ERROR_DEVIATION

const val MODEL_INPUT_ERROR_DEVIATION: Double = 0.05

MODEL_POS_DEVIATION

val MODEL_POS_DEVIATION: Double

Deviations for Kalman filter in units of radians or radians / seconds

MODEL_VEL_DEVIATION

val MODEL_VEL_DEVIATION: Double

MOMENT_OF_INERTIA

const val MOMENT_OF_INERTIA: Double

Moment of inertia in m^2 kg given from CAD with a 0.085 m^2kg cushion for unmodeled objects

const val MOTOR_ID: Int = 11

const val NUM_MOTORS: Int = 2

const val OFFSET: Double

val PASS_ANGLE: Double

val PASS_ANGLE_T2: Double

val PASS_ANGLE_T3: Double

val POS_TOLERANCE: Double

LQR Position and Velocity tolerances

val QUAD_ENCODER: Encoder

SAMPLES_TO_AVERAGE

val SAMPLES_TO_AVERAGE: Int = 127

SHOOT_ANYWHERE_POS_TOLERANCE

val SHOOT_ANYWHERE_POS_TOLERANCE: Double

val SIMPLE_FF: ArmFeedforward

const val SLOW_ACCEL: Double

val START_INPT_ERR: Double

val STOW_ANGLE: Double

const val UPR: Double

val VEL_TOLERANCE: Double