Package frc.robot.subsystems.drivebase.config

Class DriveBaseSubsystemConfig

java.lang.Object
frc.robot.shared.config.AbstractConfig
frc.robot.shared.config.AbstractSubsystemConfig
frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig
public class DriveBaseSubsystemConfig extends AbstractSubsystemConfig
Configuration bundle for the drive base subsystem. The values are mirrored to SmartDashboard so they can be tuned live without redeploying firmware.

  • Field Details

    • maximumLinearSpeedFeetPerSecond

      public double maximumLinearSpeedFeetPerSecond
      Maximum linear speed in feet per second.

    • maximumAngularSpeedDegreesPerSecond

      public double maximumAngularSpeedDegreesPerSecond
      Maximum angular speed in degrees per second.

    • rotationToleranceDegrees

      public double rotationToleranceDegrees
      Allowed heading error in degrees.

    • fieldFacingMarginDegrees

      public double fieldFacingMarginDegrees
      Margin in degrees around each field-facing orientation (0 and 180 degrees) within which the robot is considered to already be facing that direction. Used by the snap-to-field-facing command to decide whether to flip to the opposite heading.

    • sysId

      public SysIdRoutineConfig sysId
      SysId routine parameters shared by all drive base motors (drive and angle).

    • pathTranslation

      public PidConfig pathTranslation
      PID gains for the path following translation controller.

    • pathRotation

      public PidConfig pathRotation
      PID gains for the path following rotation controller.

    • simulationTranslationScale

      public double simulationTranslationScale
      Additional translation scale applied in simulation.

    • simulationOmegaScale

      public double simulationOmegaScale
      Additional rotation scale applied in simulation.

    • swerveConfigDirectory

      public String swerveConfigDirectory
      Name of the swerve configuration directory under the deploy folder (e.g., "swerve" or "swerve-test").

    • headingCorrectionEnabled

      public boolean headingCorrectionEnabled
      Whether YAGSL heading correction is enabled. Heading correction passively counteracts gyro drift during straight-line driving.

      Disable in simulation where the correction assumes real-world friction and inertia.

    • shootingSpeedScalePercent

      public double shootingSpeedScalePercent
      Percentage of maximum drive speed allowed when the robot is actively shooting (FIRE_READY or AUTO_CYCLE). A value of 70 means the drive base runs at 70% of its configured max speed while the shooter, indexer, and feeder are powered, reducing current draw so the shooter maintains full accuracy.

    • lowVoltageThresholdVolts

      public double lowVoltageThresholdVolts
      Battery voltage threshold below which the drive base begins scaling speed to conserve power. When the smoothed battery voltage drops below this value, the drive base applies lowVoltageSpeedScalePercent as an additional multiplier.

    • lowVoltageSpeedScalePercent

      public double lowVoltageSpeedScalePercent
      Percentage of maximum drive speed applied when battery voltage is below lowVoltageThresholdVolts but above criticalVoltageThresholdVolts.

    • criticalVoltageThresholdVolts

      public double criticalVoltageThresholdVolts
      Battery voltage threshold indicating severe sag. When the smoothed battery voltage drops below this value, the drive base applies the more aggressive criticalVoltageSpeedScalePercent multiplier.

    • criticalVoltageSpeedScalePercent

      public double criticalVoltageSpeedScalePercent
      Percentage of maximum drive speed applied when battery voltage is below criticalVoltageThresholdVolts.

    • applyPowerManagementInAuto

      public boolean applyPowerManagementInAuto
      Whether state-based power management (shooting speed scale) applies during autonomous mode. When false, only voltage-based scaling is active during auto; the shooting speed scale is skipped so PathPlanner path-following accuracy is preserved.

  • Constructor Details

    • DriveBaseSubsystemConfig

      public DriveBaseSubsystemConfig()

  • Method Details

    • getSwerveConfigDirectory

      public String getSwerveConfigDirectory()
      Returns the swerve configuration directory name relative to the deploy folder.
      Returns:
      directory name such as "swerve" or "swerve-test"

    • getMaximumLinearSpeedMetersPerSecond

      public Supplier<Double> getMaximumLinearSpeedMetersPerSecond()
      Supplies the maximum linear speed in meters per second.
      Returns:
      supplier yielding the current max linear speed (m/s)

    • getMaximumAngularSpeedRadiansPerSecond

      public Supplier<Double> getMaximumAngularSpeedRadiansPerSecond()
      Supplies the maximum angular speed in radians per second.
      Returns:
      supplier yielding the current max angular speed (rad/s)

    • isHeadingCorrectionEnabled

      public boolean isHeadingCorrectionEnabled()
      Returns whether YAGSL heading correction is enabled.
      Returns:
      true when heading correction should be active

    • getSimulationTranslationScale

      public Supplier<Double> getSimulationTranslationScale()
      Supplies the additional joystick translation scale applied during simulation.
      Returns:
      supplier yielding the current simulation translation scale (0–1)

    • getSimulationOmegaScale

      public Supplier<Double> getSimulationOmegaScale()
      Supplies the additional joystick rotation scale applied during simulation.
      Returns:
      supplier yielding the current simulation rotation scale (0–1)

    • getRotationToleranceRadians

      public Supplier<Double> getRotationToleranceRadians()
      Supplies the rotation tolerance in radians.
      Returns:
      supplier yielding the current rotation tolerance (rad)

    • getFieldFacingMarginRadians

      public Supplier<Double> getFieldFacingMarginRadians()
      Supplies the field-facing margin in radians. The robot is considered "facing" a field-aligned heading when it is within this many radians of that heading.
      Returns:
      supplier yielding the current field-facing margin (rad)

    • getPathTranslation

      public PidConfig getPathTranslation()
      Returns the path following translation PID config.
      Returns:
      path translation PID config

    • getPathRotation

      public PidConfig getPathRotation()
      Returns the path following rotation PID config.
      Returns:
      path rotation PID config

    • getShootingSpeedScale

      public double getShootingSpeedScale()
      Reads the shooting speed scale as a fraction (0.0–1.0). A config value of 70 means the drive runs at 70% of max speed while shooting.
      Returns:
      shooting speed scale factor between 0.0 and 1.0

    • getLowVoltageThresholdVolts

      public double getLowVoltageThresholdVolts()
      Reads the battery voltage threshold below which low-voltage speed scaling activates.
      Returns:
      low voltage threshold in volts

    • getLowVoltageSpeedScale

      public double getLowVoltageSpeedScale()
      Reads the low-voltage speed scale as a fraction (0.0–1.0).
      Returns:
      low-voltage speed scale factor between 0.0 and 1.0

    • getCriticalVoltageThresholdVolts

      public double getCriticalVoltageThresholdVolts()
      Reads the battery voltage threshold below which critical-voltage speed scaling activates.
      Returns:
      critical voltage threshold in volts

    • getCriticalVoltageSpeedScale

      public double getCriticalVoltageSpeedScale()
      Reads the critical-voltage speed scale as a fraction (0.0–1.0).
      Returns:
      critical-voltage speed scale factor between 0.0 and 1.0

    • isApplyPowerManagementInAuto

      public boolean isApplyPowerManagementInAuto()
      Returns whether state-based power management applies during autonomous mode.
      Returns:
      true when shooting speed scale should also apply during auto