FRC 5024 2026 Robot - Subsystems & Controls Documentation This document outlines all robot subsystems, their constants, and the button mapping for both driver and operator controllers.
1. Swerve Drive Subsystem The primary drivetrain subsystem for holonomic movement and autonomous path following.
Constant
Value
Description
Max Linear Speed 4.69 m/s
Maximum driving velocity
Max Linear Acceleration 4.0 m/s²
Maximum acceleration during teleop
Max Angular Speed 8.0 rad/s
Maximum rotational velocity
Max Angular Acceleration 20.0 rad/s²
Maximum rotational acceleration
Drive Base Radius Calculated
Distance from center to wheels
Odometry Frequency 250 Hz (FD) / 100 Hz (11)
Pose update rate
Drive Motors : Kraken X60 FOC (4x)Steer Motors : Falcon 500 (4x)Steer Ratio : 150:1 (MK4i L3)Encoder : CANcoder (absolute)Gyro : Pigeon 2
PathPlanner PID Constants
Control
P
I
D
Position (X/Y) 10.0
0.1
0.0
Rotation (θ) 12.0
0.3
0.0
Motor PID Constants (SwerveModuleIOTalonFX.java) Drive Motor:
KP: 0.5, KI: 0, KD: 0
KS: 0.14786, KV: 0.68343, KA: 0
Steer Motor:
KP: 100, KI: 0, KD: 0.5
KS: 0.1, KV: 2.66, KA: 0
MotionMagic Cruise Velocity: 500.0 / 150 = 3.33 rot/sec
MotionMagic Acceleration: 3.33 / 0.100 = 33.3 rot/sec²
Manages fuel storage and dispensing.
Constant
Value
Description
Speed 0.85
Motor output (0.0-1.0)
Motor ID 8
CAN ID
Rotational mechanism for aiming shooting trajectory.
Constant
Value
Description
Angle Limit ±135°
Max rotation from center
Speed 0.3
Motor output (0.0-1.0)
Motor Channel 3
CAN/PWM ID
Tolerance 0.5°
Angle settling tolerance
Max Speed 70 °/sec
Max angular velocity
Max Acceleration 30 °/sec²
Max angular acceleration
Vertical Launch Angle 65°
Optimal shooting angle
Constant
Value
KP 0.04
KI 0
KD 0.0
KS 0
KV 0.0
KA 0.0
Controls fuel velocity for competitive shooting.
Constant
Value
Description
Set Velocity 3766
Target RPM
Shooter Speed 0.1
Motor output
Feeder Speed 0.85
Feeder output
Wheel Diameter 0.1016 m
4 inches
Constant
Value
KP 0.0006
KI 0
KD 0
KS 0.2 (Static friction voltage)
KV 0.001764 (Velocity constant)
KA 0.01 (Acceleration constant)
Distance-Based Velocity Map
Distance (m)
Target RPM
2.4384
2800
3.048
3100
4.2672
3650
5.4864
4200
6.7056
4575
7.9248
5100
Collects fuel cells from the field.
Constant
Value
Description
Intake Speed 0.7
Inward motor output
Outtake Speed -0.4
Outward motor output
Extending Speed -0.15
Arm extension output
Retracting Speed 0.35
Arm retraction output
Drive Coefficient 0.1
Intake-while-driving modifier
Constant
Value
KP (Arm) 0
KI (Arm) 0
KD (Arm) 0
KS (Arm) 0
KG (Arm) 0
KA (Arm) 0
KV (Arm) 0
Constant
Value
KP (Roll) 0
KI (Roll) 0
KD (Roll) 0
KS (Roll) 0
KA (Roll) 0
KV (Roll) 0
Mechanism for end-game positioning on climbing bars.
Constant
Value
Description
Extend Speed 0.75
Arm extension output
Contract Speed -0.80
Arm retraction output
Declimb Speed 0.1
Safe descent output
Climb Speed -0.70
Climbing output
Max Position 780.0
Maximum extension (radians)
Min Position 10.0
Minimum position (radians)
Manages fuel delivery to shooter.
Constant
Value
Description
Motor ID 8
CAN ID
AprilTag-based localization using Limelight cameras.
Camera
Name
Position
Orientation
Front limelight-four
(-4.0", -11.75", +19.25")
15° down
Rear limelight-three
(-6.75", -11.75", +19.25")
15° down, 180° rotated
Constant
Value
Description
Max Ambiguity 0.3
Confidence threshold
Max Z-Error 0.75 m
Height accuracy threshold
Linear Std Dev Baseline 0.02 m
1m/1tag position accuracy
Angular Std Dev Baseline 0.06 rad
1m/1tag rotation accuracy
MegaTag 2 Linear Factor 0.5
Multiplier (more stable)
MegaTag 2 Angular Factor ∞
No rotation data
Camera 0 (Front): 1.0
Camera 1 (Rear): 1.0
Constant
Value
Frame Width 27 inches
Full Width 34.5 inches
Full Length 34.5 inches
Mass 74.088 kg
Moment of Inertia 6.883
Wheel Coefficient of Friction 1.2
Swerve Drive Module IDs (CAN Bus) Front Left Module:
Component
CAN ID
Drive Motor
21
Steer Motor
22
CANcoder
2
Front Right Module:
Component
CAN ID
Drive Motor
11
Steer Motor
12
CANcoder
1
Back Left Module:
Component
CAN ID
Drive Motor
31
Steer Motor
32
CANcoder
3
Back Right Module:
Component
CAN ID
Drive Motor
41
Steer Motor
42
CANcoder
4
Other Subsystems (CAN/PWM IDs)
Subsystem
Component
ID
Type
Controller
Hopper Motor
8
CAN
SparkMax (REV)
Turret Motor
3
CAN
SparkMax (REV)
Shooter Lead Motor
51
CAN
SparkFlex (REV)
Shooter Follower Motor
52
CAN
SparkFlex (REV)
Intake Intake Motor
60
CAN
SparkMax (REV)
Intake Arm Motor
5
CAN
SparkMax (REV)
Climb Motor
3
CAN
TalonFX (CTRE)
Note: Turret (ID 3, SparkMax) and Climb (ID 3, TalonFX) use different motor controller manufacturers, so they don't conflict on different networks.
Driver Controller (Xbox Controller - Port 0)
Input
Action
Effect
Left Stick Y Drive Forward/Back
Field-relative translation
Left Stick X Strafe Left/Right
Field-relative translation
Right Stick X Rotate
Robot-relative rotation
Button
Action
Left Trigger (LT) Shoot - Runs feeder, shooter, hopper in parallel. After 2s, retracts intake arm
Right Trigger (RT) Slow Mode - Reduces drivetrain speed while held
Button
Action
A Button Snap to Hub - Auto-aims robot toward the hub while driving normally
X Button Spin to Hub - Rotates turret to aim at hub
Button
Action
Y Button Retract Intake Arm - Retracts intake mechanism
Right Bumper (RB) Extend Intake Arm (on press) + Intake (while held) - Extends arm and runs intake
Button
Action
POV Up Extend Climb Arm - Extends climbing mechanism
POV Down Contract Climb Arm - Retracts climbing mechanism
POV Left Turret Rotate Left - Manual turret rotation (+0.1)
POV Right Turret Rotate Right - Manual turret rotation (-0.1)
Operator Controller (Xbox Controller - Port 1)
Button
Action
Y Button Pathfind Test - Executes "Pathfind Test Path" command
Test Controller (Xbox Controller - Port 2) No active bindings.
Constant
Value
Fuel Cell Diameter 0.15 m
Fuel Cell Mass 0.203 kg
Drive PID Values : src/main/java/frc/robot/subsystems/swervedrive/SwerveModuleIOTalonFX.javaPathPlanner Config : src/main/java/frc/robot/Constants.java (RobotConstants.PP_CONFIG)Button Bindings : src/main/java/frc/robot/controllers/ButtonBindings.javaAll Subsystem Constants : src/main/java/frc/robot/Constants.java
Motor PID Values : Conservative gains optimized for real hardware (KP 0.5 drive, KP 100 steer)MotionMagic Steering : Configured with 500.0 cruise velocity for responsive turningPathPlanner : Uses position P: 10.0, rotation P: 12.0 for autonomous tracking
Uses dual Limelight cameras (front & rear) for robust localization
AprilTag-based positioning with standard deviation adjustments based on distance
MegaTag 2 multi-tag detection for improved accuracy
Paths defined in src/main/deploy/pathplanner/paths/
Auto routines available in dashboard chooser
Supports dynamic pathfinding during match
Default Drive Mode : Field-relative with normal speed
Slow Mode : Right trigger - reduces all velocities
Auto Aim : A button - snaps robot toward hub while driving
Shoot : Left trigger - full shooting sequence
Climb : POV up/down - extend/contract climb arm
Document Last Updated: March 9, 2026
For questions or updates, refer to the source Constants.java file