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Add Intake and Shooter Subsystems

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This commit is contained in:
Abhishrek05
2024-01-20 10:10:17 -07:00
parent d56140d366
commit 502f7a979a
5 changed files with 113 additions and 37 deletions
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src/main/java/frc4388/robot/Constants.java
+45 -34
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@@ -61,47 +61,47 @@ public final class Constants {
}
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(1.2, 0.0, 0, 0.0, 0, 1.0);
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(1.2, 0.0, 0, 0.0, 0, 1.0);
}
public static final class AutoConstants {
public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
public static final double PATH_MAX_ACC = 0.3; // 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_FAST = 4.8;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
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 TICKS_PER_MOTOR_REV = 2048;
public static final double WHEEL_DIAMETER_INCHES = 3.9;
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;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
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 int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
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 TICKS_PER_MOTOR_REV = 2048;
public static final double WHEEL_DIAMETER_INCHES = 3.9;
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;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
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 class Configurations {
public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
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 OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
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 MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
@@ -118,7 +118,7 @@ public final class Constants {
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class VisionConstants {
public static final class VisionConstants {
public static final String NAME = "photonCamera";
public static final int LIME_HIXELS = 640;
@@ -138,7 +138,7 @@ public final class Constants {
public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
}
}
public static final class DriveConstants {
public static final int DRIVE_PIGEON_ID = 14;
@@ -152,6 +152,17 @@ public final class Constants {
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
public static final class ShooterConstants {
public static final int LEFT_SHOOTER_ID = 15; //TODO:
public static final int RIGHT_SHOOTER_ID = 16; //TODO:
public static final double SHOOTER_SPEED = 1.d; //TODO:
}
public static final class IntakeConstants {
public static final int INTAKE_MOTOR_ID = 17; //TODO:
public static final double INTAKE_SPEED = 0.2; //TODO:
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;