Configuration

Configuration describes the physical robot and selected operating limits. Control logic consumes configuration; it should not invent it.

What belongs in configuration

• CAN, PWM, DIO, and analog identifiers
• motor inversion and sensor direction
• gear ratios and wheel diameters
• mechanism travel limits
• current limits and voltage constraints
• controller gains and motion constraints
• camera transforms and field dimensions

public record ElevatorConfig(
    int leaderCanId,
    int followerCanId,
    double gearRatio,
    double drumRadiusMeters,
    double minHeightMeters,
    double maxHeightMeters,
    double currentLimitAmps) {}

Validate at startup

public ElevatorConfig {
  if (gearRatio <= 0.0) throw new IllegalArgumentException("gearRatio must be positive");
  if (minHeightMeters >= maxHeightMeters) throw new IllegalArgumentException("invalid height range");
}

Fail early for impossible values. Runtime clamping should protect physical motion, not conceal broken configuration.

Profiles

If the team maintains multiple robots, select a named robot profile once at startup. Do not scatter if (practiceRobot) checks through subsystems.

Change discipline

Configuration changes deserve the same review as logic. State why the value changed, how it was measured, which robot profile it affects, and what verification was performed.

Never guess identifiers

A duplicate CAN ID or incorrect inversion can disable a device or create unexpected motion. Verify against the maintained wiring and configuration source.