Package frc.robot.subsystems.swervedrive2.swervelib.parser

Class SwerveModulePhysicalCharacteristics

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics

public class SwerveModulePhysicalCharacteristics
extends Object

Configuration class which stores physical characteristics shared between every swerve module.

Field Summary

Fields

Modifier and Type	Field	Description
int	angleEncoderPulsePerRotation	Angle motor encoder pulse per rotation.
double	angleGearRatio	Angle gear ratio.
int	angleMotorCurrentLimit	Current limits for the Swerve Module.
double	angleMotorFreeSpeedRPM	Free speed rotations per minute of the motor, as described by the vendor.
double	angleMotorRampRate	The time it takes for the motor to go from 0 to full throttle in seconds.
int	driveEncoderPulsePerRotation	Drive motor encoder pulse per rotation.
double	driveGearRatio	Drive gear ratio.
int	driveMotorCurrentLimit	Current limits for the Swerve Module.
double	driveMotorRampRate	The time it takes for the motor to go from 0 to full throttle in seconds.
double	optimalVoltage	Optimal voltage of the robot.
double	wheelDiameter	Wheel diameter in meters.
double	wheelGripCoefficientOfFriction	Wheel grip tape coefficient of friction on carpet, as described by the vendor.

Constructor Summary

Constructors

Constructor	Description
SwerveModulePhysicalCharacteristics(double driveGearRatio, double angleGearRatio, double angleMotorFreeSpeedRPM, double wheelDiameter, double driveMotorRampRate, double angleMotorRampRate, int driveEncoderPulsePerRotation, int angleEncoderPulsePerRotation)	Construct the swerve module physical characteristics.
SwerveModulePhysicalCharacteristics(double driveGearRatio, double angleGearRatio, double angleMotorFreeSpeedRPM, double wheelDiameter, double wheelGripCoefficientOfFriction, double optimalVoltage, int driveMotorCurrentLimit, int angleMotorCurrentLimit, double driveMotorRampRate, double angleMotorRampRate, int driveEncoderPulsePerRotation, int angleEncoderPulsePerRotation)	Construct the swerve module physical characteristics.

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

wheelDiameter

public final double wheelDiameter

Wheel diameter in meters.

driveGearRatio

public final double driveGearRatio

Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.

angleGearRatio

public final double angleGearRatio

Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.

driveEncoderPulsePerRotation

public final int driveEncoderPulsePerRotation

Drive motor encoder pulse per rotation. 1 if integrated encoder.

angleEncoderPulsePerRotation

public final int angleEncoderPulsePerRotation

Angle motor encoder pulse per rotation. 1 if integrated encoder.

optimalVoltage

public final double optimalVoltage

Optimal voltage of the robot.

driveMotorCurrentLimit

public final int driveMotorCurrentLimit

Current limits for the Swerve Module.

angleMotorCurrentLimit

public final int angleMotorCurrentLimit

Current limits for the Swerve Module.

driveMotorRampRate

public final double driveMotorRampRate

The time it takes for the motor to go from 0 to full throttle in seconds.

angleMotorRampRate

public final double angleMotorRampRate

The time it takes for the motor to go from 0 to full throttle in seconds.

wheelGripCoefficientOfFriction

public final double wheelGripCoefficientOfFriction

Wheel grip tape coefficient of friction on carpet, as described by the vendor.

angleMotorFreeSpeedRPM

public final double angleMotorFreeSpeedRPM

Free speed rotations per minute of the motor, as described by the vendor.

Constructor Detail

SwerveModulePhysicalCharacteristics

public SwerveModulePhysicalCharacteristics(double driveGearRatio,
                                           double angleGearRatio,
                                           double angleMotorFreeSpeedRPM,
                                           double wheelDiameter,
                                           double wheelGripCoefficientOfFriction,
                                           double optimalVoltage,
                                           int driveMotorCurrentLimit,
                                           int angleMotorCurrentLimit,
                                           double driveMotorRampRate,
                                           double angleMotorRampRate,
                                           int driveEncoderPulsePerRotation,
                                           int angleEncoderPulsePerRotation)

Construct the swerve module physical characteristics.

Parameters:

driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.

angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.

angleMotorFreeSpeedRPM - Motor free speed rotation per minute.

wheelDiameter - Wheel diameter in meters.

wheelGripCoefficientOfFriction - Wheel grip coefficient of friction on carpet given by manufacturer.

optimalVoltage - Optimal robot voltage.

driveMotorCurrentLimit - Current limit for the drive motor.

angleMotorCurrentLimit - Current limit for the angle motor.

driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents over drawing power from battery)

angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing power and power loss).

driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.

angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.

SwerveModulePhysicalCharacteristics

public SwerveModulePhysicalCharacteristics(double driveGearRatio,
                                           double angleGearRatio,
                                           double angleMotorFreeSpeedRPM,
                                           double wheelDiameter,
                                           double driveMotorRampRate,
                                           double angleMotorRampRate,
                                           int driveEncoderPulsePerRotation,
                                           int angleEncoderPulsePerRotation)

Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 (taken from blue nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the angle motor current limit is 20A.

Parameters:

driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.

angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.

angleMotorFreeSpeedRPM - Motor free speed rotation per minute.

wheelDiameter - Wheel diameter in meters.

driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents over drawing power from battery)

angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing power and power loss).

driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.

angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.