Constant Field Values

Contents

• com.marslib.*
• frc.robot.*

com.marslib.*

com.marslib.swerve.PhoenixOdometryThread

Modifier and Type	Constant Field	Value
public static final int	MAX_SAMPLES	50

com.marslib.swerve.TeleopDriveMath

Modifier and Type	Constant Field	Value
public static final double	DEADBAND	0.1

frc.robot.*

frc.robot.BuildConstants

Modifier and Type	Constant Field	Value
public static final String	BUILD_DATE	"2026-04-14 01:40:32 UTC"
public static final long	BUILD_UNIX_TIME	1776130832617L
public static final int	DIRTY	1
public static final String	GIT_BRANCH	"master"
public static final String	GIT_DATE	"2026-04-13 21:39:54"
public static final int	GIT_REVISION	397
public static final String	GIT_SHA	"b6f445e0e2965c6077490af084595115fd2ad039"
public static final String	MAVEN_GROUP	""
public static final String	MAVEN_NAME	"MARSLib"
public static final String	VERSION	"unspecified"

frc.robot.SwerveConstants

Modifier and Type	Constant Field	Value
public static final double	AUTO_ROTATION_KD	0.0
public static final double	AUTO_ROTATION_KP	5.0
public static final double	AUTO_TRANSLATION_KD	0.0
public static final double	AUTO_TRANSLATION_KP	5.0
public static final double	BUMPER_LENGTH_METERS	0.8
public static final double	BUMPER_WIDTH_METERS	0.8
public static final double	DRIVE_GEAR_RATIO	5.27
public static final double	DRIVE_STATOR_CURRENT_LIMIT	60.0
public static final double	GRAVITY_M_PER_S2	9.81
public static final double	LATERAL_SLIP_RELAXATION	0.1
public static final double	MAX_ANGULAR_SPEED_RAD_PER_SEC	6.283185307179586
public static final double	MAX_LINEAR_SPEED_MPS	5.85
public static final double	MIN_LOAD_SHED_CURRENT	20.0
public static final double	NOMINAL_BATTERY_VOLTAGE	12.0
public static final double	ROBOT_MASS_KG	63.5029
public static final double	SLIP_TRANSITION_VELOCITY_MPS	0.05
public static final double	TRACK_WIDTH_METERS	0.6
public static final double	TURN_GEAR_RATIO	26.09
public static final double	TURN_KP	5.0
public static final double	TURN_STATOR_CURRENT_LIMIT	40.0
public static final double	WALL_FRICTION	0.5
public static final double	WALL_RESTITUTION	0.1
public static final double	WHEEL_COF_KINETIC	0.8
public static final double	WHEEL_COF_STATIC	1.2
public static final double	WHEEL_MOI_KG_M2	0.002
public static final double	WHEEL_RADIUS_METERS	0.0508
public static final double	WHEELBASE_METERS	0.6

frc.robot.constants.AutoConstants

Modifier and Type	Constant Field	Value
public static final double	ALIGN_ROTATION_MAX_ACCEL_RAD_PER_SEC2	12.566370614359172
public static final double	ALIGN_ROTATION_MAX_VELOCITY_RAD_PER_SEC	6.283185307179586
public static final double	ALIGN_ROTATION_TOLERANCE_RAD	0.05
public static final double	ALIGN_THETA_KP	5.0
public static final double	ALIGN_TRANSLATION_IZONE_METERS	0.2
public static final double	ALIGN_TRANSLATION_KP	5.0
public static final double	ALIGN_TRANSLATION_MAX_ACCEL_MPS2	3.0
public static final double	ALIGN_TRANSLATION_MAX_VELOCITY_MPS	3.0
public static final double	ALIGN_TRANSLATION_TOLERANCE_METERS	0.05
public static final double	MAX_ACCELERATION_MPS2	2.0
public static final double	MAX_ANGULAR_ACCELERATION_RAD_PER_SEC2	1.5707963267948966
public static final double	MAX_ANGULAR_VELOCITY_RAD_PER_SEC	3.141592653589793
public static final double	MAX_VELOCITY_MPS	3.0

frc.robot.constants.ClimberConstants

Modifier and Type	Constant Field	Value
public static final String	CANBUS	"CAN2"
public static final double	FAST_GEAR_RATIO	80.0
public static final int	FAST_MOTOR_ID	19
public static final int	FLIP_FOLLOWER_ID	18
public static final double	FLIP_GEAR_RATIO	80.0
public static final int	FLIP_LEADER_ID	17

frc.robot.constants.CowlConstants

Modifier and Type	Constant Field	Value
public static final String	CANBUS	"CAN2"
public static final double	GEAR_RATIO	1.0
public static final boolean	INVERTED	false
public static final double	MIN_CURRENT_AMPS	20.0
public static final int	MOTOR_ID	13

frc.robot.constants.DriveConstants

Modifier and Type	Constant Field	Value
public static final int	BL_DRIVE_ID	6
public static final int	BL_TURN_ID	5
public static final int	BR_DRIVE_ID	3
public static final int	BR_TURN_ID	4
public static final String	CANBUS	"rio"
public static final int	FL_DRIVE_ID	7
public static final int	FL_TURN_ID	8
public static final int	FR_DRIVE_ID	1
public static final int	FR_TURN_ID	2
public static final double	HEADING_KP	5.0
public static final double	ODOMETRY_HZ	250.0
public static final int	PIGEON2_ID	9
public static final double	TELEMETRY_HZ	50.0
public static final double	TELEOP_LINEAR_ACCEL_LIMIT	15.0
public static final double	TELEOP_OMEGA_ACCEL_LIMIT	18.84955592153876

frc.robot.constants.FieldConstants

Modifier and Type	Constant Field	Value
public static final double	FIELD_LENGTH_METERS	16.54105
public static final double	FIELD_WIDTH_METERS	8.06926
public static final double	GAME_PIECE_MASS_KG	0.2268
public static final double	GAME_PIECE_RADIUS_METERS	0.075
public static final double	GAME_PIECE_REST_HEIGHT_METERS	0.075
public static final double	HUB_SIZE_METERS	1.194
public static final double	INTAKE_COLLECTION_RADIUS_METERS	1.0
public static final boolean	MAPLE_SIM_EFFICIENCY_MODE	true
public static final double	WALL_FRICTION	0.2
public static final double	WALL_RESTITUTION	0.1
public static final double	WALL_THICKNESS_METERS	1.0

frc.robot.constants.IntakeConstants

Modifier and Type	Constant Field	Value
public static final String	CANBUS	"CAN2"
public static final int	FLOOR_MOTOR_ID	16
public static final double	PIVOT_GEAR_RATIO	4.0
public static final int	PIVOT_MOTOR_ID	14
public static final int	ROLLER_MOTOR_ID	15

frc.robot.constants.LEDConstants

Modifier and Type	Constant Field	Value
public static final String	CANBUS	"CAN2"
public static final int	CANDLE_ID	24
public static final int	LENGTH	70

frc.robot.constants.ModeConstants

Modifier and Type	Constant Field	Value
public static final double	LOOP_PERIOD_SECS	0.02
public static final boolean	OVERRIDE_REPLAY	false

frc.robot.constants.OperatorConstants

Modifier and Type	Constant Field	Value
public static final int	PULSE_DURATION_LOOPS	25
public static final int	PULSE_INTERVAL_LOOPS	25

frc.robot.constants.PowerConstants

Modifier and Type	Constant Field	Value
public static final double	CRITICAL_VOLTAGE	7.0
public static final double	NOMINAL_VOLTAGE	10.0
public static final double	WARNING_VOLTAGE	8.0

frc.robot.constants.ShooterConstants

Modifier and Type	Constant Field	Value
public static final String	CANBUS	"CAN2"
public static final double	FEEDER_GEAR_RATIO	4.0
public static final int	FEEDER_MOTOR_ID	20
public static final int	LF_MOTOR_ID	10
public static final int	LM_MOTOR_ID	9
public static final double	PROJECTILE_SPEED_MPS	15.0
public static final int	RF_MOTOR_ID	12
public static final int	RM_MOTOR_ID	11
public static final double	SHOOTER_WHEEL_RADIUS_METERS	0.0508

frc.robot.constants.SimulationConstants

Modifier and Type	Constant Field	Value
public static final int	CAN_STARVATION_DELAY_MS	2
public static final double	CAN_STARVATION_PROBABILITY	0.02
public static final boolean	ENABLE_CAN_STARVATION	false
public static final boolean	ENABLE_GYRO_NOISE	false
public static final boolean	ENABLE_VISION_OCCLUSION	false
public static final double	GYRO_DRIFT_DEG_PER_SEC	0.05
public static final double	GYRO_NOISE_SCALAR	0.005
public static final double	VISION_OCCLUSION_DROP_PROBABILITY	0.05

frc.robot.constants.SuperstructureConstants

Modifier and Type	Constant Field	Value
public static final double	INTAKE_PIVOT_ANGLE	0.7853981633974483
public static final double	SCORE_FALLBACK_COWL_ANGLE	1.5707963267948966
public static final double	SHOOTER_EXIT_HEIGHT_METERS	1.5

frc.robot.constants.VisionConstants

Modifier and Type	Constant Field	Value
public static final String	CAMERA_0_NAME	"limelight-shooter"
public static final String	CAMERA_1_NAME	"limelight-back"