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SwerveDrive class done

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This commit is contained in:
aarav18
2023-01-14 11:42:03 -07:00
parent c62ca6bd2f
commit e12199ccd9
3 changed files with 123 additions and 17 deletions
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src/main/java/frc4388/robot/Constants.java
+21 -16
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@@ -21,22 +21,22 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
public static final class SwerveDriveConstants {
public static final class IDs {
public static final int DRIVE_PIGEON_ID = -1;
public static final int DRIVE_PIGEON_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_WHEEL_ID = -1;
public static final int RIGHT_FRONT_WHEEL_ID = -1;
public static final int LEFT_BACK_WHEEL_ID = -1;
public static final int RIGHT_BACK_STEER_ID = -1;
public static final int LEFT_FRONT_STEER_ID = -1;
public static final int RIGHT_FRONT_STEER_ID = -1;
public static final int LEFT_BACK_STEER_ID = -1;
public static final int RIGHT_BACK_WHEEL_ID = -1;
public static final int LEFT_FRONT_ENCODER_ID = -1;
public static final int RIGHT_FRONT_ENCODER_ID = -1;
public static final int LEFT_BACK_ENCODER_ID = -1;
public static final int RIGHT_BACK_ENCODER_ID = -1;
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_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 {
@@ -47,10 +47,15 @@ public final class Constants {
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 MAX_SPEED_FEET_PER_SECOND = -1; // TODO: find the actual value
public static final double MAX_SPEED_FEET_PER_SECOND = 16; // TODO: find the actual value
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;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;