Package com.frcteam3255.components.swerve

Class SN_SwerveConstants

java.lang.Object

com.frcteam3255.components.swerve.SN_SwerveConstants

public class SN_SwerveConstants
extends Object

A wrapper for a swerve module's physical constants. Contains preset constants as well as a constructor for custom constants.

Values are taken directly from their website. (https://www.swervedrivespecialties.com/products/mk4i-swerve-module)

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SN_SwerveConstants.MK4I

Field Summary

Fields

Modifier and Type	Field	Description
double	driveGearRatio
double	maxSpeedMeters
double	steerGearRatio
double	wheelCircumference

Constructor Summary

Constructors

Constructor	Description
SN_SwerveConstants(double steerGearRatio, double wheelCircumference, double driveGearRatio, double maxSpeedMeters)	A wrapper for Swerve Module constants.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

steerGearRatio

public double steerGearRatio

wheelCircumference

public double wheelCircumference

driveGearRatio

public double driveGearRatio

maxSpeedMeters

public double maxSpeedMeters

Constructor Details

SN_SwerveConstants

public SN_SwerveConstants(double steerGearRatio,
 double wheelCircumference,
 double driveGearRatio,
 double maxSpeedMeters)

A wrapper for Swerve Module constants. You can create your own custom constants using this constructor.

Parameters:

steerGearRatio - The gear ratio between the wheel and the steer motor

wheelCircumference - The circumference of the wheel, in meters

driveGearRatio - The gear ratio between the wheel and the drive motor

maxSpeedMeters - The maximum speed of the module, in meters per second