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2022NoWayHome/src/main/java/frc4388/robot/Constants.java
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aarav18 00f6407a7f Climber fix and robotContainer cleanup
2022-03-20 20:18:02 -06:00

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// 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 java.security.PublicKey;
import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
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.
*
* <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 double LOOP_TIME = 0.02;
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 2.0;
public static final double WIDTH = 23.75;
public static final double HEIGHT = 23.75;
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 LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 ) % 360.;
public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.05 - 180 ) % 360.;
public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.50) % 360.;
public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 180) % 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;
// current limits
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_STEER = new SupplyCurrentLimitConfiguration(
false, 10, 0, 0);
public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_STEER = new StatorCurrentLimitConfiguration(
false, 15, 0, 0);
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL = new SupplyCurrentLimitConfiguration(
false, 10, 0, 0);
public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_WHEEL = new StatorCurrentLimitConfiguration(
false, 15, 0, 0);
// misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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 SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE = new SupplyCurrentLimitConfiguration(
false, 10, 0, 0); //Find
public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_INTAKE = new StatorCurrentLimitConfiguration(
false, 15, 0, 0);
public static final double INTAKE_SPEED_MULTIPLIER = 0.4;
}
public static final class ExtenderConstants {
public static final double EXTENDER_FORWARD_LIMIT = 235.0;//250.0;
public static final double EXTENDER_REVERSE_LIMIT = 0.0;
}
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;
}
public static final class ClimberConstants {
public static final int SHOULDER_ID = 30;
public static final int ELBOW_ID = 31;
public static final int GYRO_ID = 14;
public static final double INPUT_MULTIPLIER = 0.4;
public static final double ELBOW_SOFT_LIMIT_TOLERANCE = 20000.0;
public static final double SHOULDER_SOFT_LIMIT_TOLERANCE = 12000.0;
// 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 = 30000; // ticks per second
public static final double SHOULDER_RESTING_ANGLE = 0;
public static final double ELBOW_RESTING_ANGLE = 0;
public static final double SHOULDER_MAX_ANGLE = 135;
public static final double ELBOW_MAX_ANGLE = 180;
public static final double ELBOW_GB_RATIO = 1.d;
public static final double SHOULDER_GB_RATIO = 1.d;
public static final double SHOULDER_FORWARD_SOFT_LIMIT = 53869;
public static final double SHOULDER_REVERSE_SOFT_LIMIT = 0;
public static final double ELBOW_FORWARD_SOFT_LIMIT = 281717;
public static final double ELBOW_REVERSE_SOFT_LIMIT = 0;
// PID Constants
public static final int SHOULDER_POSITION_SLOT_IDX = 0;
public static final int SHOULDER_VELOCITY_SLOT_IDX = 0;
public static final int SHOULDER_PID_LOOP_IDX = 0;
public static final int ELBOW_POSITION_SLOT_IDX = 0;
public static final int ELBOW_VELOCITY_SLOT_IDX = 0;
public static final int ELBOW_PID_LOOP_IDX = 0;
public static final Gains SHOULDER_POSITION_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.2);
public static final Gains ELBOW_POSITION_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.2);
public static final Gains SHOULDER_VELOCITY_GAINS = new Gains(0.2, 0.0, 5.0, 0.0, 0, 0.2);
public static final Gains ELBOW_VELOCITY_GAINS = new Gains(0.3, 0.005, 5.0, 0.0, 0, 1.0);
public static final int CLIMBER_TIMEOUT_MS = 50;
public static final double THRESHOLD = 0;
// TODO: Update Constants
// Robot Angle
public static final double ROBOT_ANGLE_ID = 0;
}
public static final class ClawConstants {
public static final int LEFT_CLAW_ID = 44;
public static final int RIGHT_CLAW_ID = 45;
public static final double OPEN_POSITION = 0; // TODO: find actual position
public static final double CLOSE_POSITION = 1; // TODO: find actual position
public static final double THRESHOLD = .1; // TODO: find actual threshold
public static final double CALIBRATION_SPEED = 0;
public static final double CURRENT_LIMIT = 0.0; // TODO: set actual current limit;
public static final int TOP_LIMIT = 1800;
public static final int BOTTOM_LIMIT = 1200;
}
/**
* 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 int BUTTON_BOX_ID = 2;
public static final double LEFT_AXIS_DEADBAND = 0.1;
public static final double RIGHT_AXIS_DEADBAND = 0.6;
public static final boolean SKEW_STICKS = true;
}
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_SHOOTER = new SupplyCurrentLimitConfiguration(
true, 10, 0, 0);
public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_SHOOTER = new StatorCurrentLimitConfiguration(
true, 27, 0, 0);
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 = 0.4;
public static final double TURRET_CALIBRATION_MULTIPLIER = 0.5;
public static final double TURRET_DEGREES_PER_ROT = 180.0/105.45445251464844;
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;
public static final double TURRET_CLIMBING_POS = -3.76;
// Shoot Command Constants
public static final Gains TURRET_SHOOT_GAINS = new Gains(3.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_SHOOT_GAINS = new Gains(6.0, 0.0, 0.0, 0.0, 0, 1.0);
/* Turret Constants */
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.3/*TURRET_SPEED_MULTIPLIER*/);
public static final double SHOOTER_TURRET_MIN = -0.3;//-TURRET_SPEED_MULTIPLIER;
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
public static final double TURRET_FORWARD_HARD_LIMIT = 18.429;
public static final double TURRET_REVERSE_HARD_LIMIT = -117.8;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 5;
public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
public static final double TURRET_SOFT_LIMIT_TOLERANCE = 20.0;
//Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0);
/* 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 double HOOD_FORWARD_SOFT_LIMIT = 0.0; // TODO: find
public static final double HOOD_REVERSE_SOFT_LIMIT = -150; // TODO: find
public static final double HOOD_SOFT_LIMIT_TOLERANCE = 20.0;
}
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 = 56.4;
public static final String NAME = "photonCamera";
public static final double TARGET_HEIGHT = 8*12 + 8; //TODO: Convert to metric (does this still need to be converted?)
public static final double LIME_HEIGHT = 26;
public static final double TARGET_RADIUS = 4*12; //TODO: Convert to metric (does this still need to be converted?)
public static final double H_FOV = 59.6;
public static final double V_FOV = 45.7;
public static final double LIME_HIXELS = 920;
public static final double LIME_VIXELS = 720;
public static final double TURRET_kP = 0.1;
public static final double POINTS_THRESHOLD = 400;
public static final double RANGE = 10;
public static final double EDGE_TO_CENTER = 20;
public static final double LIMELIGHT_RADIUS = 8;
public static final double SHOOTER_CORRECTION = 1.d;
}
}
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