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
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.

MotorConfig

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