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Cleaned up Math, added unit testing to AimToCenter

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This commit is contained in:
Ryan Manley
2022-02-26 13:48:50 -07:00
parent 31346ff646
commit 350cf33dd0
9 changed files with 262 additions and 165 deletions
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src/main/java/frc4388/robot/Constants.java
+22 -22
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@@ -31,28 +31,28 @@ public final class Constants {
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;
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;
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;
@@ -110,8 +110,8 @@ public final class Constants {
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 double DEADZONE_LEFT = -20.0;
public static final double DEADZONE_RIGHT = 0.0;
public static final double DEADZONE_LEFT = 0.0;
public static final double DEADZONE_RIGHT = 340.0;
public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later//
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//