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.
angleMotorFreeSpeedRPM	Rotations per Minute	Y	Angle motor free speed rotations per minute.
angleMotorsKV	Gain kV	N	Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the calculated kV will be used.

MotorConfig

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