Package swervelib.parser.json

Class PhysicalPropertiesJson

java.lang.Object
swervelib.parser.json.PhysicalPropertiesJson
public class PhysicalPropertiesJson extends Object
SwerveModulePhysicalCharacteristics parsed data. Used to configure the SwerveModule.

  • Field Details

    • 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 Details

    • PhysicalPropertiesJson

      public PhysicalPropertiesJson()

  • Method Details

    • 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.