wheel radius circumference, drive gear ratio, sterring ratio constants

DurhamAcademy · Jan 8, 2024 · 67a8b03 · 67a8b03
1 parent bed662f
commit 67a8b03
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -13,6 +13,8 @@
 
 package frc.robot;
 
+import static java.lang.Math.PI;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -23,6 +25,11 @@
  */
 public final class Constants {
   public static final Mode currentMode = Mode.SIM;
+  //*START OF CONSTANTS FOR SWERVE* (STILL MISSING WHEEL POSITIONS - Im not on the cad thingy so i cant see it)
+  double WHEEL_RADIUS = 0.0508;
+  double WHEEL_CIRCUMFERENCE = WHEEL_RADIUS * 2 * PI;
+  double DRIVE_GEAR_RATIO = 6.75;
+  double STEERING_RATIO = (150/7);
 
   public static enum Mode {
     /** Running on a real robot. */