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Merge branch 'origin/swerve' into robot-logger

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nathanrsxtn
2022-03-01 17:56:55 -07:00
parent fa7368305b b01d79ae70
commit 1e573f18e4
25 changed files with 1444 additions and 98 deletions
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src/main/java/frc4388/robot/Constants.java
+73 -10
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@@ -4,12 +4,15 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
@@ -52,11 +55,12 @@ public final class Constants {
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
public static final int GYRO_ID = 14;
// ofsets are in degrees
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;
// offsets are in degrees
// NATHAN if you truncate or round or simplify these i will cry
public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 360.+2.15-3.637;//180-2.021484375;//0.0;//134.384765625 + 45;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;
@@ -67,10 +71,10 @@ public final class Constants {
// swerve auto constants
public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController (15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final boolean PATH_RECORD_VELOCITY = true;
public static final double PATH_MAX_VELOCITY = 5.5;
public static final double PATH_MAX_ACCELERATION = 50;
public static final double PATH_MAX_VELOCITY = 5.0;
public static final double PATH_MAX_ACCELERATION = 5.0;
public static final double MIN_WAYPOINT_ANGLE = 20;
public static final double MIN_WAYPOINT_DISTANCE = 0.1;
public static final double MIN_WAYPOINT_VELOCITY = 0.1;
@@ -81,10 +85,11 @@ public final class Constants {
public static final int REMOTE_0 = 0;
// conversions
// gear ratio: 5.12 rev motor = 1 rev wheel
// gear ratio: 5.14 rev motor = 1 rev wheel
// wheel diameter: official = 4 in, measured = 3.8 in
/* Ratio Calculation */
public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
public static final double MOTOR_REV_PER_WHEEL_REV = 5.142857;
public static final double WHEEL_DIAMETER_INCHES = 4.0;
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
@@ -119,4 +124,62 @@ public final class Constants {
public static final double LEFT_AXIS_DEADBAND = 0.1;
public static final double RIGHT_AXIS_DEADBAND = 0.6;
}
public static final class ShooterConstants {
/* PID Constants Shooter */
public static final int CLOSED_LOOP_TIME_MS = 1;
public static final int SHOOTER_TIMEOUT_MS = 32;
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; // TODO: find
public static final double TURRET_SPEED_MULTIPLIER = 0.1d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
public static final double ENCODER_TICKS_PER_REV = 2048;
/* Turret Constants */
//ID
public static final int TURRET_MOTOR_CAN_ID = 30;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
// deadzones
public static final double HARD_DEADZONE_LEFT = 0.0;
public static final double HARD_DEADZONE_RIGHT = 340.0;
public static final double DIG_DEADZONE_LEFT = 40.0;
public static final double DIG_DEADZONE_RIGHT = 60.0;
public static final int SHOOTER_FALCON_BALLER_ID = 0; // TODO: find
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final float HOOD_FORWARD_LIMIT = 0; //TODO: find
public static final float HOOD_REVERSE_LIMIT = 0; //TODO: find
}
public static final class VisionConstants {
public static final double TURN_P_VALUE = 0.8;
public static final double X_ANGLE_ERROR = 0.5;
public static final double GRAV = 385.83;
public static final double TARGET_HEIGHT = 67.5;
public static final double FOV = 29.8; //Field of view limelight
public static final double LIME_ANGLE = 24.7;
}
}