Team4388/2025RidgeScape
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Merge branch 'master' into photon-and-pathplanner-Overhaul-Swerve

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Michael Mikovsky
2025-01-14 17:42:24 -07:00
parent cfe3ece8e5 b4fc99f670
commit 187e9fe31a
5 changed files with 162 additions and 20 deletions
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src/main/java/frc4388/robot/Constants.java
+18 -15
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@@ -51,6 +51,7 @@ import edu.wpi.first.units.measure.Distance;
import frc4388.utility.CanDevice;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
import frc4388.utility.Trim;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -98,50 +99,52 @@ public final class Constants {
public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants {
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.133056640625);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.47705078125 + 0.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.355224609375 + 0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
}
public static final class IDs {
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 2);
public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 3);
public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 10);
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4);
public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 5);
public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 11);
public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 4);
public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 5);
public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 11);
public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 2);
public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 3);
public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 10);
public static final CanDevice LEFT_BACK_WHEEL = new CanDevice("LEFT_BACK_WHEEL", 6);
public static final CanDevice LEFT_BACK_STEER = new CanDevice("LEFT_BACK_STEER", 7);