frc971/wpilib/swerve/swerve_constants.fbs

namespace frc971.wpilib.swerve;

// Captures the robot-design-specific constants for a swerve module.
// I.e., gear ratios and the such but not zeroing constants that vary by
// instance of the design.
table SwervePositionConstants {
  // Scales between the relative and absolute encoders on the rotation
  // module and the actual rotation of the module, in radians.
  // module_rotation_in_radians = *_encoder_scale * encoder_reading
  // The relative encoder reading will generally be the actual count of the
  // encoder and the absolute encoder will generally vary between 0 and 1.
  relative_encoder_scale:double (id: 0);
  absolute_encoder_scale:double (id: 1);
}