This JSON configures the physical properties shared with all the Swerve Modules. It maps 1:1 with PhysicalPropertiesJson.java which creates SwerveModulePhysicalCharacteristics.java.
| Name | Units | Required | Description |
|---|---|---|---|
conversionFactor |
MotorConfig | N | Conversion factor applied to the motor controller for the onboard PID. |
optimalVoltage |
Voltage | Y | Optimal voltage to compensate to and base feedforward calculations off of. |
currentLimit |
MotorConfig | N | The current limit in AMPs to apply to the motors. |
rampRate |
MotorConfig | N | The minimum number of seconds to take for the motor to go from 0 to full throttle. |
wheelGripCoefficientOfFriction |
Coefficient of Friction on Carpet | N | The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration. |
| Name | Units | Required | Description |
|---|---|---|---|
drive |
Number | Y | Drive motor value. |
angle |
Number | Y | Angle motor value. |