Team4388/2023WayOfTheRobot
1
0
Fork 0
mirror of https://github.com/Team4388/2023WayOfTheRobot.git synced 2026-06-09 00:37:59 -06:00
Code Issues Packages Projects Releases Wiki Activity

finished RobotMap, started RobotContainer work

Browse Source
This commit is contained in:
aarav18
2023-01-14 13:20:04 -07:00
parent 72183b7b2a
commit 258ba8c1c0
4 changed files with 86 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+61 -59
View File
@@ -19,69 +19,71 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final class SwerveDriveConstants {
public static final class IDs {
public static final int DRIVE_PIGEON_ID = -1; // TODO: find actual ID
public static final class SwerveDriveConstants {
public static final class IDs {
public static final int LEFT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_ENCODER_ID = -1; // TODO: find actual ID
}
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 class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0;
}
public static final class Configurations {
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
// 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 HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
// misc
public static final int TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
public static final int LEFT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_ENCODER_ID = -1; // TODO: find actual ID
}
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 class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0;
}
public static final class Configurations {
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
// 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 HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
// misc
public static final int TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class GyroConstants {
public static final int ID = -1; // TODO: find actual ID
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
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 LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
}
}