/*----------------------------------------------------------------------------*/ /* 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 static edu.wpi.first.units.Units.Inches; import static edu.wpi.first.units.Units.Rotations; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.OpenLoopRampsConfigs; import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.StaticFeedforwardSignValue; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType; import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement; import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType; import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement; import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Distance; import frc4388.utility.CanDevice; import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; /** * 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 String CANBUS_NAME = "rio"; public static final class SwerveDriveConstants { public static final double MAX_ROT_SPEED = 3.5; public static final double AUTO_MAX_ROT_SPEED = 1.5; public static final double MIN_ROT_SPEED = 1.0; public static double ROTATION_SPEED = MAX_ROT_SPEED; public static double PLAYBACK_ROTATION_SPEED = AUTO_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 = 0.25; public static final double FAST_SPEED = 0.5; public static final double TURBO_SPEED = 1.0; public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED}; public static final int STARTING_GEAR = 0; // dimensions public static final double WIDTH = 18.5; // TODO: validate public static final double HEIGHT = 18.5; // TODO: validate public static final double HALF_WIDTH = WIDTH / 2.d; public static final double HALF_HEIGHT = HEIGHT / 2.d; // Mechanics private static final double COUPLE_RATIO = 3; //todo: find private static final double DRIVE_RATIO = 6.12; private static final double STEER_RATIO = (150/7); private static final Distance WHEEL_RADIUS = Inches.of(2); public static final double MAX_SPEED_MEETERS_PER_SEC = 6.22; // TODO: Validate 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 = 0; // 0, 90, 180, 270 private static final class ModuleSpecificConstants { //Front Left 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_YPOS = Inches.of(HALF_HEIGHT); //Front Right 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); //Back Left private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.35205078125+.25); 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); //Back Right 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_YPOS = Inches.of(-HALF_HEIGHT); } public static final class IDs { 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", 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); public static final CanDevice LEFT_BACK_ENCODER = new CanDevice("LEFT_BACK_ENCODER", 12); public static final CanDevice RIGHT_BACK_WHEEL = new CanDevice("RIGHT_BACK_WHEEL", 8); public static final CanDevice RIGHT_BACK_STEER = new CanDevice("RIGHT_BACK_STEER", 9); public static final CanDevice RIGHT_BACK_ENCODER = new CanDevice("RIGHT_BACK_ENCODER", 13); public static final CanDevice DRIVE_PIGEON = new CanDevice("DRIVE_PIGEON", 14); public static final CanDevice e = new CanDevice("NONEXISTANT_CAN", 50); } 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(50, 0.0, 0.32, 0.0, 0, 0.0); public static final Slot0Configs CURRENT_SWERVE_ROT_GAINS = new Slot0Configs() .withKP(50).withKI(0).withKD(0.32) .withKS(0).withKV(0).withKA(0); public static final Slot0Configs TEST_SWERVE_ROT_GAINS = new Slot0Configs() .withKP(10).withKI(0).withKD(0.3) .withKS(0).withKV(0).withKA(0); public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0); // The steer motor uses any SwerveModule.SteerRequestType control request with the // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput public static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs() .withKP(100).withKI(0).withKD(0.6) .withKS(0.1).withKV(1.91).withKA(0) .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); // When using closed-loop control, the drive motor uses the control // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs() .withKP(0.1).withKI(0).withKD(0) .withKS(0).withKV(0.124); } 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 Configurations { public static final double OPEN_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help. public static final double CLOSED_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help. public static final double NEUTRAL_DEADBAND = 0.04; // POWER! (limiting) private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration() .withMotorOutput( new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND) ).withOpenLoopRamps( new OpenLoopRampsConfigs() .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE) ).withClosedLoopRamps( new ClosedLoopRampsConfigs() .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE) ); private static final TalonFXConfiguration STEER_MOTOR_CONFIGS = new TalonFXConfiguration() .withCurrentLimits( new CurrentLimitsConfigs() .withStatorCurrentLimit(40) // TODO: tune??? .withStatorCurrentLimitEnable(true) ).withMotorOutput( new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND) // ).withOpenLoopRamps( // new OpenLoopRampsConfigs() // .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE) // ).withClosedLoopRamps( // new ClosedLoopRampsConfigs() // .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE) ); private static final double SLIP_CURRENT = 100; // TODO: Tune??? } // No mans land // Beware, there be dragons. public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants() .withPigeon2Id(IDs.DRIVE_PIGEON.id); private static final SwerveModuleConstantsFactory ConstantCreator = new SwerveModuleConstantsFactory() // holy verbosity batman. .withDriveMotorGearRatio(DRIVE_RATIO) .withSteerMotorGearRatio(STEER_RATIO) .withCouplingGearRatio(COUPLE_RATIO) .withWheelRadius(WHEEL_RADIUS) .withSteerMotorGains(PIDConstants.PREPROVIDED_STEER_GAINS) // ? .withDriveMotorGains(PIDConstants.PREPROVIDED_DRIVE_GAINS) // ? .withSteerMotorClosedLoopOutput(ClosedLoopOutputType.Voltage) .withDriveMotorClosedLoopOutput(ClosedLoopOutputType.Voltage) .withSlipCurrent(Configurations.SLIP_CURRENT) .withSpeedAt12Volts(MAX_SPEED_MEETERS_PER_SEC) .withDriveMotorType(DriveMotorArrangement.TalonFX_Integrated) .withSteerMotorType(SteerMotorArrangement.TalonFX_Integrated) .withFeedbackSource(SteerFeedbackType.RemoteCANcoder) .withDriveMotorInitialConfigs(Configurations.DRIVE_MOTOR_CONFIGS) .withSteerMotorInitialConfigs(Configurations.STEER_MOTOR_CONFIGS); public static final SwerveModuleConstants FRONT_LEFT = ConstantCreator.createModuleConstants( IDs.LEFT_FRONT_STEER.id, IDs.LEFT_FRONT_WHEEL.id, IDs.LEFT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_LEFT_ENCODER_OFFSET, ModuleSpecificConstants.FRONT_LEFT_XPOS, ModuleSpecificConstants.FRONT_LEFT_YPOS, ModuleSpecificConstants.FRONT_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_ENCODER_INVERTED ); public static final SwerveModuleConstants FRONT_RIGHT = ConstantCreator.createModuleConstants( IDs.RIGHT_FRONT_STEER.id, IDs.RIGHT_FRONT_WHEEL.id, IDs.RIGHT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_OFFSET, ModuleSpecificConstants.FRONT_RIGHT_XPOS, ModuleSpecificConstants.FRONT_RIGHT_YPOS, ModuleSpecificConstants.FRONT_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_INVERTED ); public static final SwerveModuleConstants BACK_LEFT = ConstantCreator.createModuleConstants( IDs.LEFT_BACK_STEER.id, IDs.LEFT_BACK_WHEEL.id, IDs.LEFT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_LEFT_ENCODER_OFFSET, ModuleSpecificConstants.BACK_LEFT_XPOS, ModuleSpecificConstants.BACK_LEFT_YPOS, ModuleSpecificConstants.BACK_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_ENCODER_INVERTED ); public static final SwerveModuleConstants BACK_RIGHT = ConstantCreator.createModuleConstants( IDs.RIGHT_BACK_STEER.id, IDs.RIGHT_BACK_WHEEL.id, IDs.RIGHT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_RIGHT_ENCODER_OFFSET, ModuleSpecificConstants.BACK_RIGHT_XPOS, ModuleSpecificConstants.BACK_RIGHT_YPOS, ModuleSpecificConstants.BACK_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_ENCODER_INVERTED ); // misc public static final int TIMEOUT_MS = 30; public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } public static final class VisionConstants { } public static final class DriveConstants { 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 int XBOX_PROGRAMMER_ID = 2; public static final double LEFT_AXIS_DEADBAND = 0.1; } }