Package org.texastorque.torquelib.modules

Class TorqueSwerveModule2022.SwerveConfig

java.lang.Object
org.texastorque.torquelib.modules.TorqueSwerveModule2022.SwerveConfig
Enclosing class:
TorqueSwerveModule2022
public static final class TorqueSwerveModule2022.SwerveConfig extends Object
A structure to define the constants for the swerve module. Has default values that can be overriden before written to the module.

  • Field Details

    • defaultConfig

      public static final TorqueSwerveModule2022.SwerveConfig defaultConfig

    • magic

      public double magic

    • driveMaxCurrent

      public int driveMaxCurrent

    • turnMaxCurrent

      public int turnMaxCurrent

    • voltageCompensation

      public double voltageCompensation

    • maxVelocity

      public double maxVelocity

    • maxAcceleration

      public double maxAcceleration

    • maxAngularVelocity

      public double maxAngularVelocity

    • maxAngularAcceleration

      public double maxAngularAcceleration

    • driveStaticGain

      public double driveStaticGain

    • driveFeedForward

      public double driveFeedForward

    • drivePGain

      public double drivePGain

    • driveIGain

      public double driveIGain

    • driveDGain

      public double driveDGain

    • driveRampRate

      public double driveRampRate

    • driveGearRatio

      public double driveGearRatio

    • wheelDiameter

      public double wheelDiameter

    • driveVelocityFactor

      public double driveVelocityFactor

    • drivePoseFactor

      public double drivePoseFactor

    • turnPGain

      public double turnPGain

    • turnIGain

      public double turnIGain

    • turnDGain

      public double turnDGain

    • turnGearRatio

      public double turnGearRatio

  • Constructor Details

    • SwerveConfig

      public SwerveConfig()