mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
nathanrsxtn
d9a4be3090
Reogranize path recording code Change recorded path naming to use date and time Try out keeping log messages in a resource file
123 lines
5.5 KiB
Java
123 lines
5.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot;
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import edu.wpi.first.math.controller.PIDController;
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import edu.wpi.first.math.controller.ProfiledPIDController;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.trajectory.TrapezoidProfile;
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import frc4388.utility.Gains;
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import frc4388.utility.LEDPatterns;
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/**
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* The Constants class provides a convenient place for teams to hold robot-wide
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* numerical or boolean
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* constants. This class should not be used for any other purpose. All constants
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* should be
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* declared globally (i.e. public static). Do not put anything functional in
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* this class.
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*
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* <p>
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* It is advised to statically import this class (or one of its inner classes)
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* wherever the
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* constants are needed, to reduce verbosity.
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*/
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public final class Constants {
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public static final class SwerveDriveConstants {
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public static final double ROTATION_SPEED = 4;
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public static final double WHEEL_SPEED = 0.1;
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public static final double WIDTH = 15.25;
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public static final double HEIGHT = 15.25;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2;
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public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant?
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public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // redundant constant?
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//IDs
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public static final int LEFT_FRONT_STEER_CAN_ID = 2;
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public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
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public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
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public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
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public static final int LEFT_BACK_STEER_CAN_ID = 6;
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public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
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public static final int RIGHT_BACK_STEER_CAN_ID = 8;
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public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
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public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
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public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
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public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
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public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
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public static final int GYRO_ID = 14;
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// ofsets are in degrees
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public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
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public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
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public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
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public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
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// swerve PID constants
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public static final int SWERVE_SLOT_IDX = 0;
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final int SWERVE_TIMEOUT_MS = 30;
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public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
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// swerve auto constants
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public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
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public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
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public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
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public static final boolean PATH_RECORD_VELOCITY = true;
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public static final double PATH_MAX_VELOCITY = 5.5;
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public static final double PATH_MAX_ACCELERATION = 50;
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public static final double MIN_WAYPOINT_ANGLE = 20;
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public static final double MIN_WAYPOINT_DISTANCE = 0.1;
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public static final double MIN_WAYPOINT_VELOCITY = 0.1;
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// swerve configuration
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public static final double NEUTRAL_DEADBAND = 0.04;
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public static final double OPEN_LOOP_RAMP_RATE = 0.2;
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public static final int REMOTE_0 = 0;
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// conversions
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// gear ratio: 5.12 rev motor = 1 rev wheel
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// wheel diameter: official = 4 in, measured = 3.8 in
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/* Ratio Calculation */
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public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
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public static final double WHEEL_DIAMETER_INCHES = 4.0;
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public static final double TICKS_PER_MOTOR_REV = 2048;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double INCHES_PER_METER = 39.370;
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public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
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public static final double WHEEL_REV_PER_MOTOR_REV = 1/MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
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public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
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public static final double TICK_TIME_TO_SECONDS = 0.1;
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public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
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// misc
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public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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// TODO: put in real numbers for the hub
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public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0));
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}
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public static final class LEDConstants {
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public static final int LED_SPARK_ID = 0;
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public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
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}
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/**
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* The OIConstants class contains the ID for the XBox controllers
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*/
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public static final class OIConstants {
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public static final int XBOX_DRIVER_ID = 0;
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public static final int XBOX_OPERATOR_ID = 1;
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public static final double LEFT_AXIS_DEADBAND = 0.1;
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public static final double RIGHT_AXIS_DEADBAND = 0.6;
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}
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}
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