Wrist Class Reference

Static Public Attributes
	config
int	encoder = 19
	encoderConfig
float	gearRatio = 40/15
int	id = 16
	sysidConf

Member Data Documentation

config

config

static

Initial value:

=  configs.TalonFXConfiguration() \
        .with_motor_output(configs.MotorOutputConfigs() \
            .with_neutral_mode(signals.NeutralModeValue.COAST)
        )\
        .with_feedback(configs.FeedbackConfigs() \
            .with_feedback_remote_sensor_id(encoder) \
            .with_feedback_sensor_source(signals.FeedbackSensorSourceValue.REMOTE_CANCODER)
        )\
        .with_current_limits(configs.CurrentLimitsConfigs() \
            .with_stator_current_limit_enable(True) \
            .with_stator_current_limit(40)
        )\
        .with_slot0(configs.Slot0Configs() \
            .with_k_s(0.19505) \
            .with_k_v(0.11845) \
            .with_k_a(0.0017884) \
            .with_k_g(0) \
            .with_k_p(53.449/2) \
            .with_k_d(0.38955)
        )\
        .with_motion_magic(configs.MotionMagicConfigs() \
            .with_motion_magic_acceleration(20 * gearRatio * 3) \
            .with_motion_magic_cruise_velocity(2 * gearRatio) \
            .with_motion_magic_jerk(40 * gearRatio * 3)
        )

encoder

int encoder = 19

static

encoderConfig

encoderConfig

static

Initial value:

=  configs.CANcoderConfiguration() \
        .with_magnet_sensor(
            configs.MagnetSensorConfigs() \
                .with_magnet_offset(0.21728515625) \
                .with_sensor_direction(signals.SensorDirectionValue.COUNTER_CLOCKWISE_POSITIVE) \
                .with_absolute_sensor_discontinuity_point(0.5)
        )

gearRatio

float gearRatio = 40/15

static

id

int id = 16

static

sysidConf

sysidConf

static

Initial value:

=  sysidConfig(
        stepVoltage = 8,
        timeout = 5
    )

---

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

• /home/axolotl/FRC-2025/constants.py