mirror of
https://github.com/Team4388/2023WayOfTheRobot.git
synced 2026-06-09 00:37:59 -06:00
aarav18
75 lines
3.5 KiB
Java
75 lines
3.5 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import frc4388.utility.Gains;
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import frc4388.utility.LEDPatterns;
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/**
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* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
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* constants. This class should not be used for any other purpose. All constants should be
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* declared globally (i.e. public static). Do not put anything functional in this class.
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*
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* <p>It is advised to statically import this class (or one of its inner classes) wherever the
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* constants are needed, to reduce verbosity.
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*/
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public final class Constants {
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public static final class SwerveDriveConstants {
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public static final class IDs {
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public static final int DRIVE_PIGEON_ID = -1; // TODO: find actual ID
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public static final int LEFT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
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public static final int RIGHT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
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public static final int LEFT_BACK_WHEEL_ID = -1; // TODO: find actual ID
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public static final int RIGHT_BACK_STEER_ID = -1; // TODO: find actual ID
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public static final int LEFT_FRONT_STEER_ID = -1; // TODO: find actual ID
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public static final int RIGHT_FRONT_STEER_ID = -1; // TODO: find actual ID
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public static final int LEFT_BACK_STEER_ID = -1; // TODO: find actual ID
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public static final int RIGHT_BACK_WHEEL_ID = -1; // TODO: find actual ID
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public static final int LEFT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
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public static final int RIGHT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
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public static final int LEFT_BACK_ENCODER_ID = -1; // TODO: find actual ID
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public static final int RIGHT_BACK_ENCODER_ID = -1; // TODO: find actual ID
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}
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public static final class PIDConstants {
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public static final int SWERVE_SLOT_IDX = 0;
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
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}
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public static final class Conversions {
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public static final int CANCODER_TICKS_PER_ROTATION = 4096;
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public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0;
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}
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public static final double MAX_SPEED_FEET_PER_SECOND = -1; // TODO: find the actual value
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public static final double WIDTH = -1; // TODO: find the actual value
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public static final double HEIGHT = -1; // TODO: find the actual value
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public static final double HALF_WIDTH = WIDTH / 2.d;
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public static final double HALF_HEIGHT = HEIGHT / 2.d;
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public static final int SWERVE_TIMEOUT_MS = 30;
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public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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}
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public static final class LEDConstants {
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public static final int LED_SPARK_ID = 0;
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public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
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}
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public static final class OIConstants {
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public static final int XBOX_DRIVER_ID = 0;
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public static final int XBOX_OPERATOR_ID = 1;
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}
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}
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