864-robot-config.json

{
  "cubeLift": null,
  "forklift": null,
  "climberDeployment": null,
  "drivetrain": {
    "ports": {
      "rightFollowerPort": 40,
      "leftFollowerPort": 51,
      "rightPort": 41,
      "leftPort": 50
    },
    "props": {
      "maxLeftVelocity": [
        21.9,
        "FeetPerSecond"
      ],
      "turnVelocityGains": {
        "kd": {
          "den": [
            360,
            "DegreesPerSecond / s"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "ki": {
          "den": [
            0.017453292519943295,
            "Radians"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "kp": {
          "den": [
            360,
            "DegreesPerSecond"
          ],
          "num": [
            50,
            "Percent"
          ]
        }
      },
      "defaultLookAheadDistance": [
        2.5,
        "Feet"
      ],
      "maxAcceleration": [
        5,
        "FeetPerSecondSquared"
      ],
      "maxRightVelocity": [
        23.1,
        "FeetPerSecond"
      ],
      "track": [
        21.75,
        "Inches"
      ],
      "rightVelocityGains": {
        "kd": {
          "den": [
            5,
            "FeetPerSecondSquared"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "ki": {
          "den": [
            5,
            "Feet"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "kp": {
          "den": [
            5,
            "FeetPerSecond"
          ],
          "num": [
            30,
            "Percent"
          ]
        }
      },
      "turnPositionGains": {
        "kd": {
          "den": [
            0.017453292519943295,
            "RadiansPerSecond"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "ki": {
          "den": [
            1,
            "Degrees * s"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "kp": {
          "den": [
            1,
            "Degrees"
          ],
          "num": [
            0,
            "Percent"
          ]
        }
      },
      "blendExponent": 0,
      "maxTurnVelocity": [
        90,
        "DegreesPerSecond"
      ],
      "leftVelocityGains": {
        "kd": {
          "den": [
            5,
            "FeetPerSecondSquared"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "ki": {
          "den": [
            5,
            "Feet"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "kp": {
          "den": [
            5,
            "FeetPerSecond"
          ],
          "num": [
            30,
            "Percent"
          ]
        }
      },
      "forwardPositionGains": {
        "kd": {
          "den": [
            5,
            "FeetPerSecond"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "ki": {
          "den": [
            5,
            "Feet * s"
          ],
          "num": [
            0,
            "Percent"
          ]
        },
        "kp": {
          "den": [
            50,
            "Feet"
          ],
          "num": [
            1,
            "Percent"
          ]
        }
      }
    }
  },
  "driver": {
    "launchpadPort": -1,
    "driverWheelPort": 2,
    "operatorPort": 1,
    "driverPort": 0
  },
  "collectorClamp": {
    "ports": {
      "pneumaticPort": 1,
      "proximityPort": 0
    },
    "props": {
      "cubeGraspThreshold": [
        1.2,
        "Volts"
      ]
    }
  },
  "collectorPivot": {
    "pneumaticPort": 2
  },
  "collectorRollers": {
    "ports": {
      "rollerLeftPort": 20,
      "rollerRightPort": 21
    },
    "props": {
      "collectSpeed": [
        50,
        "Percent"
      ]
    }
  },
  "climberWinch": null
}