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aarav18
2022-03-06 16:05:05 -07:00
parent ba3571a788
commit a339a3fa5a
2 changed files with 27 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -12,7 +12,7 @@ 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 edu.wpi.first.math.util.Units;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
@@ -37,8 +37,8 @@ public final class Constants {
public static final double HEIGHT = 15.25;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2;
public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant?
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // redundant constant?
public static final double MAX_SPEED_FEET_PER_SEC = 20; // TODO: redundant constant?
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // TODO: redundant constant?
// IDs
public static final int LEFT_FRONT_STEER_CAN_ID = 2;
@@ -181,7 +181,7 @@ public final class Constants {
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 double TURRET_FORWARD_LIMIT = 130; // TODO: find
public static final double TURRET_FORWARD_LIMIT = 150; // TODO: find
public static final double TURRET_REVERSE_LIMIT = 0; // TODO: find
// deadzones
src/main/java/frc4388/utility/RobotUnits.java
+23
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@@ -0,0 +1,23 @@
// 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.utility;
import edu.wpi.first.math.util.Units;
/** Add your docs here. */
public class RobotUnits {
// constants
// conversions
public static double falconTicksToRotations(final double ticks) {
double rotations = ticks / 2048;
return rotations;
}
public static double falconRotationsToTicks(final double rotations) {
double ticks = rotations * 2048;
return ticks;
}
}