Physical Properties Configuration

Swerve Module Physical Properties (modules/physicalproperties.json)

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

Use the Standard Conversion Factors page to set the conversion factors for your robot if you're using a COTS swerve module!

Fields

Name	Units	Required	Description
conversionFactor	MotorConfig calculated using the formula here.	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 More info here.	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.

MotorConfig

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

Example Configuration File

{
  "conversionFactor": {
	"angle": 28.125,
	"drive": 0.047286787200699704
  },
  "currentLimit": {
    "drive": 40,
    "angle": 20
  },
  "rampRate": {
    "drive": 0.25,
    "angle": 0.25
  },
  "wheelGripCoefficientOfFriction": 1.19,
  "optimalVoltage": 12
}