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minor fixes, swerve auto constants

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aarav18
2023-01-15 15:58:40 -07:00
parent 7c7d69d61d
commit cd59b42714
2 changed files with 31 additions and 20 deletions
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src/main/java/frc4388/robot/Constants.java
+30 -19
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@@ -7,6 +7,9 @@
package frc4388.robot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
@@ -21,20 +24,20 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
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 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_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 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 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 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 class PIDConstants {
@@ -43,13 +46,24 @@ public final class Constants {
public static final Gains SWERVE_GAINS = new Gains(1.0, 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 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 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 double JOYSTICK_TO_METERS_PER_SECOND = 5.0; // 2022's robot: 11 m/s for fast, 2 m/s for slow
public static final double MOTOR_REV_PER_WHEEL_REV = -1; // TODO: find actual ID
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: find actual ID
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;
@@ -59,9 +73,6 @@ public final class Constants {
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 {
@@ -89,7 +100,7 @@ public final class Constants {
}
public static final class GyroConstants {
public static final int ID = -1; // TODO: find actual ID
public static final int ID = -1; // TODO: find the actual ID
}
public static final class LEDConstants {