Elevator Class Reference

Static Public Attributes
	config
int	mainMotorId = 13
int	othrMotorId = 14
	sysidConf
units	turnsPerInch = 1 / ((8/56) * (45/8) * 2)

Member Data Documentation

config

config

static

Initial value:

=  configs.TalonFXConfiguration()\
        .with_motor_output(configs.MotorOutputConfigs() \
            .with_neutral_mode(signals.NeutralModeValue.BRAKE)
        )\
        .with_current_limits(configs.CurrentLimitsConfigs() \
            .with_stator_current_limit_enable(True) \
            .with_stator_current_limit(80)
        )\
        .with_slot0(configs.Slot0Configs() \
            .with_k_s(0.025325) \
            .with_k_v(0.13136) \
            .with_k_a(0.0046553) \
            .with_k_g(0.58851) \
            .with_k_p(7.6082) \
            .with_k_d(0.14139)
        )\
        .with_motion_magic(configs.MotionMagicConfigs() \
            .with_motion_magic_acceleration(200/turnsPerInch) \
            .with_motion_magic_cruise_velocity(60/turnsPerInch) \
            .with_motion_magic_jerk(2000/turnsPerInch)
        )

mainMotorId

int mainMotorId = 13

static

othrMotorId

int othrMotorId = 14

static

sysidConf

sysidConf

static

Initial value:

=  sysidConfig(
        stepVoltage = 4.0,
        timeout = 3.5
    )

turnsPerInch

units turnsPerInch = 1 / ((8/56) * (45/8) * 2)

static

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

• /home/axolotl/FRC-2025/constants.py