// 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 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 edu.wpi.first.math.util.Units; 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. * *

* 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 class SwerveDriveConstants { public static final double ROTATION_SPEED = 4; public static final double WHEEL_SPEED = 0.1; public static final double WIDTH = 15.25; 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; // 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; 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 GYRO_ID = 14; // 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 + // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.222;// // 308.408203125;//225.0;//45.87890625;//360.0 // public static final double RIGHT_BACK_ENCODER_OFFSET = 360. + 2.15 - 3.637;// // 180-2.021484375;//0.0;//134.384765625 public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.05 - 180 - 90) % 360.; public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 - 90) % 360.; public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.50 - 90) % 360.; public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 180 - 90) % 360.; // 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(1.5, 0.0, 0.0, 0.0, 0, 1.0); // 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 boolean PATH_RECORD_VELOCITY = true; 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; // 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; // conversions // 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_STEER_REV = 12.8; public static final double MOTOR_REV_PER_WHEEL_REV = 6.12;// 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; public static final double INCHES_PER_METER = 39.370; public static final double METERS_PER_INCH = 1 / INCHES_PER_METER; public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV; public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV; public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV; public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH; public static final double TICK_TIME_TO_SECONDS = 0.1; public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS; // misc public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; // TODO: put in real numbers for the hub public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0)); } public static final class SerializerConstants { public static final double SERIALIZER_BELT_SPEED = 0.1d; // CAN IDs public static final int SERIALIZER_BELT = 17; public static final int SERIALIZER_BELT_BEAM = 27; // TODO } public static final class IntakeConstants { // CAN IDs public static final int INTAKE_MOTOR = 15; public static final int EXTENDER_MOTOR = 16; } public static final class StorageConstants { public static final int STORAGE_CAN_ID = 18; public static final int BEAM_SENSOR_SHOOTER = 28; //TODO public static final int BEAM_SENSOR_INTAKE = 29; //TODO public static final double STORAGE_SPEED = 0.3; } public static final class LEDConstants { public static final int LED_SPARK_ID = 0; public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; } /** * 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; 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 = 21; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22; 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; // Shoot Command Constants public static final Gains SHOOT_DRIVE_GAINS = new Gains(5.0, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SHOOT_TURRET_GAINS = new Gains(2.0, 0.0, 0.0, 0.0, 0, 1.0); /* Turret Constants */ // ID public static final int TURRET_MOTOR_CAN_ID = 19; 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 = 150; // TODO: find public static final double 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 = 20; 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; public static final String NAME = "photonCamera"; public static final double TARGET_HEIGHT = 8*12 + 8; // Convert to metric public static final double TARGET_RADIUS = 4*12; // Convert to metric public static final double H_FOV = 59.6; public static final double V_FOV = 49.7; public static final double LIME_VIXELS = 960; public static final double LIME_HIXELS = 720; public static final double TURRET_kP = 0.1; public static final double RANGE = 10; public static final double LIMELIGHT_RADIUS = 1.d; public static final double SHOOTER_CORRECTION = 1.d; } }