Team4388/2024AcrossTheRidgebotiverse
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add gear shifts

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This commit is contained in:
C4llSiqn
2024-10-26 11:10:05 -06:00
parent e9dcabce62
commit eaf60aa475
3 changed files with 61 additions and 79 deletions
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src/main/java/frc4388/robot/Constants.java
+28 -49
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@@ -34,35 +34,37 @@ public final class Constants {
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double[] GEARS = {0.25, 0.5, 1.0};
public static final double SLOW_SPEED = 0.25;
public static final double FAST_SPEED = 0.5;
public static final double TURBO_SPEED = 1.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 0.36962890625 +0.5 ;//+ 0.5;
public static final double FRONT_RIGHT_ROT_OFFSET = 0.61474609375 +0.5 ;//+ 0.5;
public static final double BACK_LEFT_ROT_OFFSET = -0.227294921875+0.5 ;
public static final double BACK_RIGHT_ROT_OFFSET = 0.60595703125 +0.5 ;
public static final double FRONT_LEFT_ROT_OFFSET = 0.36962890625 + 0.5;
public static final double FRONT_RIGHT_ROT_OFFSET = 0.61474609375 + 0.5;
public static final double BACK_LEFT_ROT_OFFSET = -0.227294921875 + 0.5;
public static final double BACK_RIGHT_ROT_OFFSET = 0.60595703125 + 0.5;
}
public static final class IDs {
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
public static final int RIGHT_FRONT_ENCODER_ID = 10;
public static final int LEFT_FRONT_WHEEL_ID = 4;
public static final int LEFT_FRONT_STEER_ID = 5;
public static final int LEFT_FRONT_ENCODER_ID = 11;
public static final int LEFT_BACK_WHEEL_ID = 6;
public static final int LEFT_BACK_STEER_ID = 7;
public static final int LEFT_BACK_ENCODER_ID = 12;
public static final int RIGHT_BACK_WHEEL_ID = 8;
public static final int RIGHT_BACK_STEER_ID = 9;
public static final int RIGHT_BACK_ENCODER_ID = 13;
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
public static final int RIGHT_FRONT_ENCODER_ID = 10;
public static final int LEFT_FRONT_WHEEL_ID = 4;
public static final int LEFT_FRONT_STEER_ID = 5;
public static final int LEFT_FRONT_ENCODER_ID = 11;
public static final int LEFT_BACK_WHEEL_ID = 6;
public static final int LEFT_BACK_STEER_ID = 7;
public static final int LEFT_BACK_ENCODER_ID = 12;
public static final int RIGHT_BACK_WHEEL_ID = 8;
public static final int RIGHT_BACK_STEER_ID = 9;
public static final int RIGHT_BACK_ENCODER_ID = 13;
}
public static final class PIDConstants {
@@ -85,8 +87,6 @@ public final class Constants {
}
public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 1;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5;
@@ -107,13 +107,13 @@ public final class Constants {
}
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;
public static final double CLOSED_LOOP_RAMP_RATE = 0.2;
public static final double NEUTRAL_DEADBAND = 0.04;
}
public static final double MAX_SPEED_FEET_PER_SECOND = 20.4; // TODO: find the actual value
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
public static final double MAX_SPEED_FEET_PER_SECOND = 20.4;
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
// dimensions
public static final double WIDTH = 18.5;
@@ -127,23 +127,6 @@ public final class Constants {
}
public static final class VisionConstants {
// public static final String NAME = "photonCamera";
// public static final int LIME_HIXELS = 640;
// public static final int LIME_VIXELS = 480;
// public static final double H_FOV = 59.6;
// public static final double V_FOV = 45.7;
// public static final double LIME_HEIGHT = 6.0;
// public static final double LIME_ANGLE = 55.0;
// // public static final double HIGH_TARGET_HEIGHT = 46.0;
// public static final double HIGH_TAPE_HEIGHT = 44.0;
// // public static final double MID_TARGET_HEIGHT = 34.0;
// public static final double MID_TAPE_HEIGHT = 24.0;
// public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
public static final Translation2d RedSpeakerCenter = new Translation2d(7.914259, -3.221609);
@@ -153,11 +136,6 @@ public final class Constants {
public static final double targetPosDistance = 1.5;
}
public static final class AutoAlignConstants {
public static final double MoveSpeed = 0.0;
public static final double RotSpeed = 0.0;
}
public static final class DriveConstants {
public static final int DRIVE_PIGEON_ID = 14;
@@ -202,6 +180,7 @@ public final class Constants {
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
public static final int XBOX_PROGRAMMER_ID = 2;
public static final double LEFT_AXIS_DEADBAND = 0.1;
}