Physical Properties Configuration
Swerve Module Physical Properties (modules/physicalproperties.json
)
modules/physicalproperties.json
)This JSON configures the physical properties shared with all the Swerve Modules. It maps 1:1 with PhysicalPropertiesJson
which creates SwerveModulePhysicalCharacteristics
.
Use the Standard Conversion Factors page to set the conversion factors for your robot if you're using a COTS swerve module!
Fields
Name | Units | Required | Description |
---|---|---|---|
| MotorConfig calculated using the formula here. | N | Conversion factor applied to the motor controller for the onboard PID. |
| Voltage | Y | Optimal voltage to compensate to and base feedforward calculations off of. |
| MotorConfig More info here. | N | The current limit in AMPs to apply to the motors. |
| N | The minimum number of seconds to take for the motor to go from 0 to full throttle. | |
| Coefficient of Friction on Carpet | N | The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration. |
MotorConfig
Name | Units | Required | Description |
---|---|---|---|
| Number | Y | Drive motor value. |
| Number | Y | Angle motor value. |
Example Configuration File
Last updated