Team4388/2023WayOfTheRobot
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SwerveModule done

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aarav18
2023-01-13 19:39:24 -07:00
parent ee55e04fc7
commit eab188b520
3 changed files with 69 additions and 95 deletions
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src/main/java/frc4388/robot/Constants.java
+16 -7
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@@ -7,6 +7,7 @@
package frc4388.robot;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
/**
@@ -18,12 +19,6 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final class DriveConstants {
public static final int DRIVE_PIGEON_ID = 6;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class SwerveDriveConstants {
public static final class IDs {
public static final int DRIVE_PIGEON_ID = -1;
@@ -44,7 +39,21 @@ public final class Constants {
public static final int RIGHT_BACK_ENCODER_ID = -1;
}
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 MAX_SPEED_FEET_PER_SECOND = 16; // TODO: find the actual value
public static final int SWERVE_TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class LEDConstants {