Team4388/2023WayOfTheRobot
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Merge branch 'master' into arm

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This commit is contained in:
Aarav Shah
2023-03-01 16:50:50 -07:00
committed by GitHub
parent 3cdf5e65fe 29bfb74c8a
commit 090dce7c10
28 changed files with 1596 additions and 226 deletions
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src/main/java/frc4388/robot/Constants.java
+45 -35
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@@ -23,49 +23,54 @@ import frc4388.utility.LEDPatterns;
*/
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = -0.7;
public static final class IDs {
public static final int LEFT_FRONT_WHEEL_ID = -1; // TODO: find the actual ID
public static final int RIGHT_FRONT_WHEEL_ID = -1; // TODO: find the actual ID
public static final int LEFT_BACK_WHEEL_ID = -1; // TODO: find the actual ID
public static final int RIGHT_BACK_STEER_ID = -1; // TODO: find the actual ID
public static final int LEFT_FRONT_WHEEL_ID = 2;
public static final int LEFT_FRONT_STEER_ID = 3;
public static final int LEFT_FRONT_ENCODER_ID = 10;
public static final int LEFT_FRONT_STEER_ID = -1; // TODO: find the actual ID
public static final int RIGHT_FRONT_STEER_ID = -1; // TODO: find the actual ID
public static final int LEFT_BACK_STEER_ID = -1; // TODO: find the actual ID
public static final int RIGHT_BACK_WHEEL_ID = -1; // TODO: find the actual ID
public static final int RIGHT_FRONT_WHEEL_ID = 4;
public static final int RIGHT_FRONT_STEER_ID = 5;
public static final int RIGHT_FRONT_ENCODER_ID = 11;
public static final int LEFT_FRONT_ENCODER_ID = -1; // TODO: find the actual ID
public static final int RIGHT_FRONT_ENCODER_ID = -1; // TODO: find the actual ID
public static final int LEFT_BACK_ENCODER_ID = -1; // TODO: find the actual ID
public static final int RIGHT_BACK_ENCODER_ID = -1; // TODO: find the actual ID
public static final int LEFT_BACK_WHEEL_ID = 6;
public static final int LEFT_BACK_STEER_ID = 7;
public static final int LEFT_BACK_ENCODER_ID = 12;
public static final int RIGHT_BACK_WHEEL_ID = 8;
public static final int RIGHT_BACK_STEER_ID = 9;
public static final int RIGHT_BACK_ENCODER_ID = 13;
}
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class AutoConstants {
public static final PIDController X_CONTROLLER = new PIDController(0.0, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(0.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(0.0, 0.0, 0.0,
new TrapezoidProfile.Constraints(0.0, 0.0)
);
public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
public static final double PATH_MAX_VEL = -1; // TODO: find the actual value
public static final double PATH_MAX_ACC = -1; // TODO: find the actual value
public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
}
public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2.0; // TODO: find the actual value
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 5.8;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
public static final double MOTOR_REV_PER_WHEEL_REV = -1; // TODO: find the actual value
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: the actual value
public static final double WHEEL_DIAMETER_INCHES = 3.9;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
@@ -81,18 +86,14 @@ public final class Constants {
public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
public static final double LEFT_FRONT_ENCODER_OFFSET = -1.0; // TODO: find the actual value
public static final double RIGHT_FRONT_ENCODER_OFFSET = -1.0; // TODO: find the actual value
public static final double LEFT_BACK_ENCODER_OFFSET = -1.0; // TODO: find the actual value
public static final double RIGHT_BACK_ENCODER_OFFSET = -1.0; // TODO: find the actual value
}
public static final double MAX_SPEED_FEET_PER_SECOND = -1; // TODO: find the actual value
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
// dimensions
public static final double WIDTH = -1; // TODO: find the actual value
public static final double HEIGHT = -1; // TODO: find the actual value
public static final double WIDTH = 18.5;
public static final double HEIGHT = 18.5;
public static final double HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
@@ -102,7 +103,13 @@ public final class Constants {
}
public static final class GyroConstants {
public static final int ID = -1; // TODO: find the actual ID
public static final int ID = 14; // TODO: find the actual ID
}
public static final class ArmConstants {
public static final int MIN_ARM_LEN = 0;
public static final int MAX_ARM_LEN = 1;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class ArmConstants {
@@ -125,9 +132,9 @@ public final class Constants {
public static final double OFFSET = 0;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
// public static final int LED_SPARK_ID = 0;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
@@ -135,5 +142,8 @@ public final class Constants {
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 boolean SKEW_STICKS = true; // ! this might have to actually be false, merge conflicts are confusing
}
}