232 lines
6.2 KiB
JSON
232 lines
6.2 KiB
JSON
{
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"Version": "1.0.0.0",
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"LastState": 11,
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"Modules": [
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{
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"ModuleName": "Front Left",
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"ModuleId": 0,
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"Encoder": {
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"Id": 13,
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"Name": "Mod1 Cancoder",
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"Model": "CANCoder vers. H",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": null
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},
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"SteerMotor": {
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"Id": 12,
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"Name": "Mod1 Angle",
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"Model": "Talon FX",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"DriveMotor": {
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"Id": 11,
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"Name": "Mod1 Drive",
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"Model": "Talon FX vers. C",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"IsEncoderInverted": false,
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"IsSteerInverted": false,
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"SelectedEncoderType": "CANcoder",
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"EncoderOffset": -0.412841796875,
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"DriveMotorSelectionState": 1,
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"SteerMotorSelectionState": 1,
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"SteerEncoderSelectionState": 1,
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"IsModuleValidationComplete": true,
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"ValidatedSteerId": 12,
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"ValidatedDriveId": 11,
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"ValidatedEncoderId": 13
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},
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{
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"ModuleName": "Front Right",
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"ModuleId": 1,
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"Encoder": {
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"Id": 23,
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"Name": "Mod2 Cancoder",
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"Model": "CANCoder vers. H",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": null
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},
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"SteerMotor": {
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"Id": 22,
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"Name": "Mod2 Angle",
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"Model": "Talon FX",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"DriveMotor": {
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"Id": 21,
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"Name": "Mod2 Drive",
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"Model": "Talon FX vers. C",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"IsEncoderInverted": false,
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"IsSteerInverted": false,
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"SelectedEncoderType": "CANcoder",
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"EncoderOffset": -0.012939453125,
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"DriveMotorSelectionState": 1,
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"SteerMotorSelectionState": 1,
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"SteerEncoderSelectionState": 1,
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"IsModuleValidationComplete": true,
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"ValidatedSteerId": 22,
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"ValidatedDriveId": 21,
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"ValidatedEncoderId": 23
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},
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{
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"ModuleName": "Back Left",
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"ModuleId": 2,
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"Encoder": {
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"Id": 3,
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"Name": "Mod0 Cancoder",
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"Model": "CANCoder",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": null
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},
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"SteerMotor": {
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"Id": 2,
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"Name": "Mod0 Angle",
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"Model": "Talon FX",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"DriveMotor": {
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"Id": 1,
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"Name": "Mod0 Drive",
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"Model": "Talon FX vers. C",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"IsEncoderInverted": false,
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"IsSteerInverted": false,
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"SelectedEncoderType": "CANcoder",
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"EncoderOffset": 0.07275390625,
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"DriveMotorSelectionState": 1,
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"SteerMotorSelectionState": 1,
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"SteerEncoderSelectionState": 1,
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"IsModuleValidationComplete": true,
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"ValidatedSteerId": 2,
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"ValidatedDriveId": 1,
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"ValidatedEncoderId": 3
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},
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{
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"ModuleName": "Back Right",
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"ModuleId": 3,
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"Encoder": {
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"Id": 33,
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"Name": "Mod3 Cancoder",
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"Model": "CANCoder vers. H",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": null
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},
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"SteerMotor": {
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"Id": 32,
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"Name": "Mod3 Angle",
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"Model": "Talon FX",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"DriveMotor": {
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"Id": 31,
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"Name": "Mod3 Drive",
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"Model": "Talon FX vers. C",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": {
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"Name": "WCP Kraken x60",
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"FreeSpeedRps": 96.7,
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"SlipCurrentLimit": 120,
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"StatorCurrentLimit": 60
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}
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},
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"IsEncoderInverted": false,
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"IsSteerInverted": false,
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"SelectedEncoderType": "CANcoder",
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"EncoderOffset": -0.4892578125,
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"DriveMotorSelectionState": 1,
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"SteerMotorSelectionState": 1,
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"SteerEncoderSelectionState": 1,
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"IsModuleValidationComplete": true,
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"ValidatedSteerId": 32,
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"ValidatedDriveId": 31,
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"ValidatedEncoderId": 33
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}
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],
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"SwerveOptions": {
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"Gyro": {
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"Id": 0,
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"Name": "Pigeon 2 vers. S (Device ID 0)",
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"Model": "Pigeon 2 vers. S",
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"CANbus": "rio",
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"CANbusFriendly": "",
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"SelectedMotorType": null
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},
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"IsValidGyroCANbus": true,
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"VerticalTrackSizeInches": 22.75,
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"HorizontalTrackSizeInches": 22.75,
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"WheelRadiusInches": 1.81,
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"IsLeftSideInverted": false,
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"IsRightSideInverted": true,
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"SwerveModuleType": 6,
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"SwerveModuleConfiguration": {
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"ModuleBrand": 6,
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"DriveRatio": 5.902777777777778,
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"SteerRatio": 12.8,
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"CouplingRatio": 3.125,
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"CustomName": "L2+"
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},
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"HasVerifiedSteer": true,
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"SelectedModuleManufacturer": "Swerve Drive Specialties (SDS)",
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"HasVerifiedDrive": true,
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"IsValidConfiguration": true
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},
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"TeamNumber": 6494,
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"schema_version": "1"
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} |