Drivetrain Configs

Mecanum Drive

The mecanum drivetrain takes multiple arguments in the constants file:

Motor names
Motor directions
Maximum power


@Override
    public DrivetrainConstants setDrivetrainConstants() { // Any DrivetrainConstants
        return new MecanumConstants()
                // Set the names of the motors in your hardware map
                .setFrontLeftMotorName("frontLeftMotor")
                .setBackLeftMotorName("backLeftMotor")
                .setFrontRightMotorName("frontRightMotor")
                .setBackRightMotorName("backRightMotor")
                //motor directions
                .setFrontRightReversed(true)
                .setBackRightReversed(true)
                .setBrakeMode(true)
                //robot centric or field centric.
                .setRobotCentric(true)
                //max power threshold
                .setMaxPower(1.0);
    }

Tank Drive

The tank drivetrain takes multiple arguments in the constants file:

Motor names
Motor directions
Maximum power


public DrivetrainConstants setDrivetrainConstants() { // Any DrivetrainConstants
        return new TankConstants()
        //4 or 2 motor tank drive
        .setFourMotorDrive(true)
        //motor names
        .setFrontLeftMotorName("leftFront")
        .setBackLeftMotorName("leftRear")
        .setFrontRightMotorName("rightFront")
        .setBackRightMotorName("rightRear")
        //motor directions
        .setFrontRightReversed(true)
        .setBackRightReversed(true)
        .setBrakeMode(true)
        //robot centric or field centric. (field centric not currently supported for tank drive)
        .setRobotCentric(true)
        //max power threshold
        .setMaxPower(1.0);
}

Swerve Drive

The swerve drivetrain takes multiple arguments in the constants file:

Drive motor names
Drive motor directions
Turn servo names
Analog encoder names
Trackwidth and wheelbase measurements
maximum power
angular offsets for each module Note: The swerve drivetrain constants require declarations grouped together in modules.


public DrivetrainConstants setDrivetrainConstants() { // Any DrivetrainConstants
        return new SwerveConstants()
        .setFrontLeftModuleConstants(
                new SwerveModuleConstants()
                        //motor name
                        .setMotorName("frontLeftMotor")
                        //servo name
                        .setServoName("flServo")
                        //encoder name
                        .setEncoderName("flEncoder")
                        //motor direction
                        .setMotorReversed(false)
                        //.setOffset angle
                        .setModuleAngleOffset(0) //degrees
        )
        .setFrontRightModuleConstants(
                new SwerveModuleConstants()
                        //motor name
                        .setMotorName("frontRightMotor")
                        //servo name
                        .setServoName("frServo")
                        //encoder name
                        .setEncoderName("frEncoder")
                        //motor direction
                        .setMotorReversed(true)
                        //.setOffset angle
                        .setModuleAngleOffset(0) //degrees
        )
        .setBackLeftModuleConstants(
                new SwerveModuleConstants()
                        //motor name
                        .setMotorName("backLeftMotor")
                        //servo name
                        .setServoName("blServo")
                        //encoder name
                        .setEncoderName("blEncoder")
                        //motor direction
                        .setMotorReversed(false)
                        //.setOffset angle
                        .setModuleAngleOffset(0) //degrees
        )
        .setBackRightModuleConstants(
                new SwerveModuleConstants()
                        //motor name
                        .setMotorName("backRightMotor")
                        //servo name
                        .setServoName("brServo")
                        //encoder name
                        .setEncoderName("brEncoder")
                        //motor direction
                        .setMotorReversed(true)
                        //.setOffset angle
                        .setModuleAngleOffset(0) //degrees
        )
        //max power threshold
        .setMaxPower(1.0)
        //trackwidth (supports custom units)
        .setTrackWidth(Distance.fromMm(0))
        //wheelbase (supports custom units)
        .setWheelbase(Distance.fromMm(0))
        //robot centric or field centric.
        .setRobotCentric(true);
}```