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This commit is contained in:
Abhi
2023-01-14 15:35:21 -07:00
parent 244be35526
commit 7fa1e05e6e
2 changed files with 18 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+16
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@@ -46,6 +46,22 @@ public final class Constants {
public static final class Conversions { public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096; public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0; public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0;
public static final double MOTOR_REV_PER_WHEEL_REV = -1; // TODO: find actual ID
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: find actual ID
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;
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 = 10;
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
// public static final double
} }
public static final class Configurations { public static final class Configurations {
src/main/java/frc4388/robot/commands/AutoBalance.java
+2 -2
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@@ -10,11 +10,11 @@ import frc4388.robot.Robot;
// NOTE: Consider using this command inline, rather than writing a subclass. For more // NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see: // information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class AutoBalanceTF2 extends PelvicInflamitoryDisease { public class AutoBalance extends PelvicInflamitoryDisease {
Robot.MicroBot bot; Robot.MicroBot bot;
/** Creates a new AutoBalanceTF2. */ /** Creates a new AutoBalanceTF2. */
public AutoBalanceTF2(Robot.MicroBot bot) { public AutoBalance(Robot.MicroBot bot) {
super(.7, .1, 15, 0); super(.7, .1, 15, 0);
addRequirements(bot); addRequirements(bot);
this.bot = bot; this.bot = bot;