/*----------------------------------------------------------------------------*/ /* 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.constants; import com.ctre.phoenix6.configs.Slot0Configs; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.RobotBase; import frc4388.utility.compute.Trim; import frc4388.utility.status.CanDevice; import frc4388.utility.structs.Gains; import frc4388.utility.structs.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 LiDARConstants { public static final int REEF_LIDAR_DIO_CHANNEL = 7; public static final int REVERSE_LIDAR_DIO_CHANNEL = 4; public static final int HUMAN_PLAYER_STATION_DISTANCE = 40; public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole public static final int LIDAR_MICROS_TO_CM = 10; public static final int SECONDS_TO_MICROS = 1000000; } public static final class AutoConstants { // public static final Gains XY_GAINS = new Gains(5,0.6,0.0); // public static final Gains XY_GAINS = new Gains(8,0,0.0); public static final Gains XY_GAINS = new Gains(3,0,1.0); // public static final ConfigurableDouble P_XY_GAINS = new ConfigurableDouble("P_XY_GAINS", XY_GAINS.kP); // public static final ConfigurableDouble I_XY_GAINS = new ConfigurableDouble("I_XY_GAINS", XY_GAINS.kI); // public static final ConfigurableDouble D_XY_GAINS = new ConfigurableDouble("D_XY_GAINS", XY_GAINS.kD); // public static final Gains XY_GAINS = new Gains(3,0.3,0.0); // public static final Gains ROT_GAINS = new Gains(0.05,0,0.007); // public static final Gains ROT_GAINS = new Gains(0.05,0,0.0); public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE,0.5, 0); // public static final Trim Y_OFFSET_TRIM = new Trim("Y Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 1.5); public static final Trim Y_OFFSET_TRIM = new Trim("Y Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 0); public static final Trim ELEVATOR_OFFSET_TRIM = new Trim("Elevator Offset Trim", -ElevatorConstants.MAX_POSITION_ELEVATOR, ElevatorConstants.MAX_POSITION_ELEVATOR, 1, 0); public static final Trim ARM_OFFSET_TRIM = new Trim("ARM Offset Trim", -ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, 1, 0); public static final double XY_TOLERANCE = 0.07; // Meters public static final double ROT_TOLERANCE = 5; // Degrees public static final double MIN_XY_PID_OUTPUT = 0.0; public static final double MIN_ROT_PID_OUTPUT = 0.0; public static final double VELOCITY_THRESHHOLD = 0.01; // X is tangent to reef side // Y is normal to reef side public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1 + 10); public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18); public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 6); public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP + Units.inchesToMeters(-4); // public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5); public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15); public static final double L3_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(5+1); public static final double L2_PREP_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(6); public static final double L2_SCORE_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(0.5-2); public static final double ALGAE_REMOVAL_DISTANCE = HALF_ROBOT_SIZE; // public static final double L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15); // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5.5); // // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(4.5); // public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15); // public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5+1); // public static final double L2_PREP_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6); // public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(0.5); // public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2); public static final int L4_DRIVE_TIME = 250; //Milliseconds // public static final int L3_DRIVE_TIME = 500; public static final int L2_DRIVE_TIME = 250; //Milliseconds public static final int ALGAE_DRIVE_TIME = 500; public static final double STOP_VELOCITY = 0.0; } public static final class VisionConstants { public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT"; public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT"; public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-19.0 * Math.PI / 180)); public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,20.0 * Math.PI / 180)); public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters // Photonvision thing // The standard deviations of our vision estimated poses, which affect correction rate // X, Y, Theta // https://www.chiefdelphi.com/t/photonvision-finding-standard-deviations-for-swervedriveposeestimator/467802/2 public static final Matrix kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4); public static final Matrix kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1); } public static final class FieldConstants { public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); // Test april tag field layout // public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout( // Arrays.asList(new AprilTag[] { // new AprilTag(1, new Pose3d( // new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.) // )), // }), 100, 100); } public static final class LEDConstants { public static final int LED_SPARK_ID = 9; public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; public static final LEDPatterns WAITING_PATTERN = LEDPatterns.SOLID_RED; public static final LEDPatterns DOWN_PATTERN = LEDPatterns.SOLID_YELLOW; public static final LEDPatterns READY_PATTERN = LEDPatterns.SOLID_GREEN_DARK; public static final LEDPatterns SCORING_PATTERN = LEDPatterns.RAINBOW_RAINBOW; public static final LEDPatterns RED_PATTERN = LEDPatterns.LAVA_WAVES; public static final LEDPatterns BLUE_PATTERN = LEDPatterns.OCEAN_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 BUTTONBOX_ID = 2; public static final int XBOX_PROGRAMMER_ID = 3; public static final double LEFT_AXIS_DEADBAND = 0.1; } public static final class ElevatorConstants { public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15); public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16); public static final double SAFETY_ENDEFFECTOR_MAX_TORQUE = 75; public static final double SAFETY_ENDEFFECTOR_MIN_VELOCITY = 20; // public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND public static final int ENDEFFECTOR_LIMIT_SWITCH = 9; // TODO: FIND public static final int INTAKE_LIMIT_SWITCH = 6; // TODO: FIND public static final double GEAR_RATIO_ELEVATOR = -9.0; //Max for elevator = 50% public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR; public static final double WAITING_POSITION_ELEVATOR = -9.5; // TODO: find 2-4 in off the pipe public static final double HOVERING_POSITION_ELEVATOR = -7.5; // TODO: find 2-4 in off the pipe public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = -5; // TODO: find on the pipe public static final double SCORING_THREE_ELEVATOR = -9.25; public static final double DEALGAE_L2_ELEVATOR = -4; public static final double DEALGAE_L3_ELEVATOR = -26.5; public static final double MAX_POSITION_ELEVATOR = 4.5 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position public static final double GEAR_RATIO_ENDEFECTOR = -100.0; public static final double ENDEFECTOR_DRIVE_SLOW = -0.08; //Max for endefector = 60% public static final double L2_SCORE_ELEVATOR = -5; public static final double L2_LEAVE_ELEVATOR = -11; public static final double L2_SCORE_ENDEFFECTOR = -19; public static final double COMPLETLY_DOWN_ENDEFFECTOR = 0 * GEAR_RATIO_ENDEFECTOR; public static final double DEALGAE_L2_ENDEFFECTOR = 0.22 * GEAR_RATIO_ENDEFECTOR; public static final double COMPLETLY_MIDDLE_ENDEFFECTOR = 0.25 * GEAR_RATIO_ENDEFECTOR; public static final double PRIMED_THREE_ENDEFFECTOR = 0.4 * GEAR_RATIO_ENDEFECTOR; public static final double SCORING_FOUR_ENDEFFECTOR = 0.3 * GEAR_RATIO_ENDEFECTOR; public static final double PRIMED_FOUR_ENDEFFECTOR = 0.44 * GEAR_RATIO_ENDEFECTOR; public static final double COMPLETLY_TOP_ENDEFFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR; public static final Slot0Configs ELEVATOR_PID = new Slot0Configs() .withKP(1) .withKI(0) .withKD(0); public static final Slot0Configs ENDEFFECTOR_PID = new Slot0Configs() .withKP(1) .withKI(0) .withKD(0); } // Logging constants public static class SimConstants { public static final Mode simMode = Mode.SIM; public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode; public static enum Mode { /** Running on a real robot. */ REAL, /** Running a physics simulator. */ SIM, /** Replaying from a log file. */ REPLAY } } }