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Swerve Module Physical Properties
T Grinch edited this page Sep 7, 2023
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11 revisions
This JSON configures the physical properties shared with all the Swerve Modules. It maps 1:1
with PhysicalPropertiesJson.java
which creates
SwerveModulePhysicalCharacteristics.java.
| Name | Units | Required | Description |
|---|---|---|---|
| wheelDiameter | Inches | Y | Module wheel diameters in inches. |
| gearRatio | MotorConfig | Y | Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time. |
| encoderPulsePerRotation | MotorConfig | N | Encoder pulse per rotation for non-integrated encoders. Set to 1 for SparkMAX's with NEO's, 360 for SparkMAX's with CANandCoders. Set to 2048 for Falcon 500s. |
| currentLimit | MotorConfig | N | The current limit in AMPs to apply to the motors. |
| rampRate | MotorConfig | N | The minimum number of seconds to take for the motor to go from 0 to full throttle. |
| wheelGripCoefficientOfFriction | Coefficient of Friction on Carpet | N | The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration. |
| Name | Units | Required | Description |
|---|---|---|---|
| drive | Number | Y | Drive motor value. |
| angle | Number | Y | Angle motor value. |