Arm Class Reference

Static Public Attributes
	config
int	encoder = 18
	encoderConfig
int	id = 15
	sysidConf

Member Data Documentation

config

config

static

Initial value:

=  configs.TalonFXConfiguration()\
        .with_feedback(configs.FeedbackConfigs()\
            .with_feedback_remote_sensor_id(encoder) \
            .with_feedback_sensor_source(signals.FeedbackSensorSourceValue.REMOTE_CANCODER)
        )\
        .with_motor_output(configs.MotorOutputConfigs() \
            .with_neutral_mode(signals.NeutralModeValue.BRAKE) \
            .with_inverted(signals.InvertedValue.CLOCKWISE_POSITIVE)
        )\
        .with_current_limits(configs.CurrentLimitsConfigs() \
            .with_stator_current_limit_enable(True) \
            .with_stator_current_limit(60)
        )\
        .with_slot0(configs.Slot0Configs() \
            .with_k_s(0.34284) \
            .with_k_v(5.9659) \
            .with_k_a(0.5081) \
            .with_k_g(0.44017) \
            .with_k_p(142.58) \
            .with_k_d(22.153)
        )\
        .with_motion_magic(configs.MotionMagicConfigs() \
            .with_motion_magic_acceleration(8) \
            .with_motion_magic_cruise_velocity(2) \
            .with_motion_magic_jerk(16)
        )

encoder

int encoder = 18

static

encoderConfig

encoderConfig

static

Initial value:

=  configs.CANcoderConfiguration() \
        .with_magnet_sensor(
            configs.MagnetSensorConfigs() \
                .with_magnet_offset(-0.10107421875) \
                .with_sensor_direction(signals.SensorDirectionValue.CLOCKWISE_POSITIVE) \
                .with_absolute_sensor_discontinuity_point(1)
        )

id

int id = 15

static

sysidConf

sysidConf

static

Initial value:

=  sysidConfig(
        stepVoltage = 5,
        rampRate = 1.5,
        timeout = 3
    )

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/constants.py