/*----------------------------------------------------------------------------*/ /* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ package frc4388.robot; import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc4388.utility.LEDPatterns; import frc4388.utility.Gains; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * constants. This class should not be used for any other purpose. All constants should be * declared globally (i.e. public static). Do not put anything functional in this class. * *

It is advised to statically import this class (or one of its inner classes) wherever the * constants are needed, to reduce verbosity. */ public final class Constants { public static final class SwerveDriveConstants { public static final double MAX_ROT_SPEED = 1.5; public static final double MIN_ROT_SPEED = 0.8; public static double ROTATION_SPEED = MAX_ROT_SPEED; public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED; public static final double CORRECTION_MIN = 10; public static final double CORRECTION_MAX = 50; public static final double SLOW_SPEED = 0.8; public static final double FAST_SPEED = 1.0; public static final double TURBO_SPEED = 4.0; public static final class DefaultSwerveRotOffsets { public static final double FRONT_LEFT_ROT_OFFSET = 130.957 + 90; public static final double FRONT_RIGHT_ROT_OFFSET = 77.783 + 90;//-202.588; public static final double BACK_LEFT_ROT_OFFSET = 347.871 + 90; public static final double BACK_RIGHT_ROT_OFFSET = 52.646 + 90; } 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 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 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 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 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 MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value // dimensions public static final double WIDTH = 18.5; public static final double HEIGHT = 18.5; public static final double HALF_WIDTH = WIDTH / 2.d; public static final double HALF_HEIGHT = HEIGHT / 2.d; // misc public static final int TIMEOUT_MS = 30; public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } 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[] LIME_POS = { 13.0, // X Pos offset. 0.0, // Y Pos offset. 14.0, // Z Pos offset. 0.0, // X Rot offset. 0.0, // Y Rot offset. 0.0 // Z Rot offset. }; //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; public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } public static final class LEDConstants { public static final int LED_SPARK_ID = 0; public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; } public static final class OIConstants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; public static final double LEFT_AXIS_DEADBAND = 0.1; } }