Bobcatlib JSON Generator

Load JSON Configuration:

Front Left Module

CanCoder ID:

Drive Motor ID:

Angle Motor ID:

CanCoder Offset (Rads):

Front Right Module

CanCoder ID:

Drive Motor ID:

Angle Motor ID:

CanCoder Offset (Rads):

Back Left Module

CanCoder ID:

Drive Motor ID:

Angle Motor ID:

CanCoder Offset (Rads):

Back Right Module

CanCoder ID:

Drive Motor ID:

Angle Motor ID:

CanCoder Offset (Rads):

AutoAlign PID

Rotation kP:

Rotation kI:

Rotation kD:

Auto PID

Rotation kP:

Rotation kI:

Rotation kD:

Translation kP:

Translation kI:

Translation kD:

Teleop PID

Rotation kP:

Rotation kI:

Rotation kD:

Translation kP:

Translation kI:

Translation kD:

Chassis Speed Limits

Max Velocity (M/s):

Max Accel (M/s^2):

Max Angular Velocity (Rads/sec):

Max Angular Accel (Rads/sec^2):

Module Speed Limits

Max Velocity (M/s):

Max Accel (M/s^2):

Max Angular Velocity (Rads/sec):

Max Angular Accel (Rads/sec^2):

Odometry

Trust Position Std Dev (Meters):

Trust Rotation Std Dev (Rads):

Distrust Position Std Dev (Meters):

Distrust Rotation Std Dev (Rads):

Distrust Acceleration (M/s^2):

Throwout Acceleration (M/s^2):

General Configs

Enable Initial Replanning:

Enable Dynamic Replanning:

Use FOC?:

Holonomic Alignment Tolerance (rads):

Wheelbase (Meters):

Trackwidth (Meters):

Wheel Circumference (Meters):

Pigeon ID:

Canbus Name (Blank for rio):

Angle Motor

kP:

kI:

kD:

kS:

kV:

kA:

Motor Inverted:

Should Coast:

Supply Current Limit Enabled?:

Supply Current Limit (Amps):

Supply Current Limit Threshold (Amps):

Supply Current Limit Time Threshold (Seconds):

Stator Current Limit Enabled?

Stator Current Limit (Amps):

Gear Ratio:

Drive Motor

kP:

kI:

kD:

kS:

kV:

kA:

Motor Inverted:

Should Coast:

Supply Current Limit Enabled?:

Supply Current Limit (Amps):

Supply Current Limit Threshold (Amps):

Supply Current Limit Time Threshold (Seconds):

Stator Current Limit Enabled?

Stator Current Limit (Amps):

Open Loop Ramp:

Closed Loop Ramp:

Gear Ratio: