Team4388/2023WayOfTheRobot
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Update basic functions for apriltags and outline for integration
This commit is contained in:
Astatin3
2023-02-16 18:46:43 -07:00
parent dd8209d8c5
commit a91d334e2c
10 changed files with 282 additions and 206 deletions
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src/main/java/frc4388/robot/Constants.java
+11 -13
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@@ -24,7 +24,7 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = -0.7;
public static final double ROTATION_SPEED = 2.0;
public static final class IDs {
public static final int LEFT_FRONT_WHEEL_ID = 2;
@@ -65,13 +65,13 @@ public final class Constants {
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 = 1.0; // 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 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 = 6.12; // TODO: find the actual value
public static final double MOTOR_REV_PER_STEER_REV = 12.8; // TODO: find the actual value
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double WHEEL_DIAMETER_INCHES = 3.9;
public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: the actual value
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;
@@ -88,6 +88,7 @@ public final class Constants {
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 = (4 * 360. - 232.6466 + 180 - 90) % 360.; // * 2022 SwerveDrive values
// public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // * 2022 SwerveDrive values
// public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // * 2022 SwerveDrive values
@@ -105,11 +106,11 @@ public final class Constants {
}
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
public static final double MAX_SPEED_FEET_PER_SECOND = 10; // TODO: find the actual value
// dimensions
public static final double WIDTH = 18.5;
public static final double HEIGHT = 18.5;
public static final double WIDTH = 18.5; // TODO: find the actual value
public static final double HEIGHT = 18.5; // TODO: find the actual value
public static final double HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
@@ -137,10 +138,7 @@ 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;
public static final double LEFT_AXIS_DEADBAND = 0.04;
public static final boolean SKEW_STICKS = false;
}
}