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

Class PhysicalPropertiesJson

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.parser.json.PhysicalPropertiesJson

public class PhysicalPropertiesJson
extends Object

SwerveModulePhysicalCharacteristics parsed data. Used to configure the SwerveModule.

Field Summary

Fields

Modifier and Type	Field	Description
double	angleMotorFreeSpeedRPM	Angle motor free speed rotations per minute.
MotorConfigInt	currentLimit	The current limit in AMPs to apply to the motors.
MotorConfigInt	encoderPulsePerRotation	Encoder pulse per rotation for non-integrated encoders.
MotorConfigDouble	gearRatio	Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
MotorConfigDouble	rampRate	The minimum number of seconds to take for the motor to go from 0 to full throttle.
double	wheelDiameter	Wheel diameter in inches.
double	wheelGripCoefficientOfFriction	The grip tape coefficient of friction on carpet.

Constructor Summary

Constructors

Constructor	Description
PhysicalPropertiesJson()

Method Summary

Modifier and Type	Method	Description
SwerveModulePhysicalCharacteristics	createPhysicalProperties(double optimalVoltage)	Create the physical characteristics based off the parsed data.

Methods inherited from class java.lang.Object

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

Field Detail

wheelDiameter

public double wheelDiameter

Wheel diameter in inches.

gearRatio

public MotorConfigDouble gearRatio

Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.

encoderPulsePerRotation

public MotorConfigInt encoderPulsePerRotation

Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.

currentLimit

public MotorConfigInt currentLimit

The current limit in AMPs to apply to the motors.

rampRate

public MotorConfigDouble rampRate

The minimum number of seconds to take for the motor to go from 0 to full throttle.

wheelGripCoefficientOfFriction

public double wheelGripCoefficientOfFriction

The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.

angleMotorFreeSpeedRPM

public double angleMotorFreeSpeedRPM

Angle motor free speed rotations per minute.

Constructor Detail

PhysicalPropertiesJson

public PhysicalPropertiesJson()

Method Detail

createPhysicalProperties

public SwerveModulePhysicalCharacteristics createPhysicalProperties(double optimalVoltage)

Create the physical characteristics based off the parsed data.

Parameters:

optimalVoltage - Optimal voltage to compensate for and use to calculate drive motor feedforward.

Returns:

SwerveModulePhysicalCharacteristics based on parsed data.