2022NoWayHome/src/main/java/frc4388/robot/Constants.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.robot;

import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;

/**
 * The Constants class provides a convenient place for teams to hold robot-wide
 * numerical or boolean
 * constants. This class should not be used for any other purpose. All constants
 * should be
 * declared globally (i.e. public static). Do not put anything functional in
 * this class.
 *
 * <p>
 * It is advised to statically import this class (or one of its inner classes)
 * wherever the
 * constants are needed, to reduce verbosity.
 */
public final class Constants {
  public static final double TICKS_PER_ROTATION_FX = 2048;

  public static final class SwerveDriveConstants {
    public static final double ROTATION_SPEED = 0.1;
    public static final double WHEEL_SPEED = 0.1;
    public static final double WIDTH = 22;
    public static final double HEIGHT = 22;
    public static final double JOYSTICK_TO_METERS_PER_SECOND = 5;
    public static final double MAX_SPEED_FEET_PER_SEC = 16;
    public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20;
    public static final int LEFT_FRONT_STEER_CAN_ID = 2;
    public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
    public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
    public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
    public static final int LEFT_BACK_STEER_CAN_ID = 6;
    public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
    public static final int RIGHT_BACK_STEER_CAN_ID = 8;
    public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
    public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
    public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
    public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
    public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
    // ofsets are in degrees
    //ofsets are in degrees
        // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;    
        // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;   
        // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;     
        // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
        public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
        public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
        public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
        public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;

    // swerve PID constants
    public static final int SWERVE_SLOT_IDX = 0;
    public static final int SWERVE_PID_LOOP_IDX = 1;
    public static final int SWERVE_TIMEOUT_MS = 30;
    public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);

    // swerve configuration
    public static final double NEUTRAL_DEADBAND = 0.04;
    public static final double OPEN_LOOP_RAMP_RATE = 0.2;
    public static final int REMOTE_0 = 0;

    // misc
    public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
  }

  public static final class LEDConstants {
    public static final int LED_SPARK_ID = 0;

    public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
  }

  public static final class ClimberConstants {
    /* TODO: Update motor IDS */
    public static final int SHOULDER_ID = 1;
    public static final int ELBOW_ID = 3;
    public static final int GYRO_ID = -1;

    // TODO Update this stuff too
    public static final double UPPER_ARM_LENGTH = 26; // Units should be in cm
    public static final double LOWER_ARM_LENGTH = 27;

    public static final double MAX_ARM_LENGTH = 53;
    public static final double MIN_ARM_LENGTH = 1;
    
    public static final double MOVE_SPEED = .1; // cm per second

    public static final double SHOULDER_RESTING_ANGLE = 0;
    public static final double ELBOW_RESTING_ANGLE = 0;

    // PID Constants
    public static final int SHOULDER_SLOT_IDX = 0;
    public static final int SHOULDER_PID_LOOP_IDX = 1;

    public static final int ELBOW_SLOT_IDX = 0;
    public static final int ELBOW_PID_LOOP_IDX = 1;

    public static final Gains SHOULDER_GAINS = new Gains(.4, 0.0, 0.0, 0.0, 0, 1.0);
    public static final Gains ELBOW_GAINS = new Gains(.4, 0.0, 0.0, 0.0, 0, 1.0);

    public static final int CLIMBER_TIMEOUT_MS = 50;
  }

  public static final class HooksConstants {
    public static final int LEFT_HOOK_ID = -1;
    public static final int RIGHT_HOOK_ID = -1;

    public static final double OPEN_POSITION = 0;
    public static final double CLOSE_POSITION = 0;
  }
  /**
   * The OIConstants class contains the ID for the XBox controllers
   */
  public static final class OIConstants {
    public static final int XBOX_DRIVER_ID = 0;
    public static final int XBOX_OPERATOR_ID = 1;
  }
}