Swerve Module Physical Properties

Swerve Module Physical Properties (physicalproperties.json)

This JSON configures the physical properties shared with all the Swerve Modules. It maps 1:1 with PhysicalPropertiesJson.java which creates SwerveModulePhysicalCharacteristics.java.

Fields

Name	Units	Required	Description
wheelDiameter	Inches	Y	Module wheel diameters in inches.
gearRatio	MotorConfig	Y	Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
encoderPulsePerRotation	MotorConfig	N	Encoder pulse per rotation for non-integrated encoders. Set to 1 for SparkMAX's. Set to 2048 for Falcon 500s.
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.
moduleFeedForwardClosedLoop	Feedforward between [-1, 0]	N	The feedforward scalar to apply for 2nd order kinematics. If robot arcs while translating and rotating negate this.

MotorConfig

Name	Units	Required	Description
drive	Number	Y	Drive motor value.
angle	Number	Y	Angle motor value.