mirror of
https://github.com/Team4388/2025RidgeScape.git
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C4llSqin
157 lines
7.7 KiB
Java
157 lines
7.7 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import java.util.ArrayList;
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import java.util.List;
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import edu.wpi.first.math.trajectory.TrapezoidProfile;
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import frc4388.utility.CanDevice;
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import frc4388.utility.Gains;
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import frc4388.utility.LEDPatterns;
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/**
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* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
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* constants. This class should not be used for any other purpose. All constants should be
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* declared globally (i.e. public static). Do not put anything functional in this class.
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*
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* <p>It is advised to statically import this class (or one of its inner classes) wherever the
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* constants are needed, to reduce verbosity.
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*/
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public final class Constants {
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public static final String CANBUS_NAME = "rio";
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public static final class SwerveDriveConstants {
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public static final double MAX_ROT_SPEED = 3.5;
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public static final double AUTO_MAX_ROT_SPEED = 1.5;
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public static final double MIN_ROT_SPEED = 1.0;
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public static double ROTATION_SPEED = MAX_ROT_SPEED;
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public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
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public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
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public static final double CORRECTION_MIN = 10;
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public static final double CORRECTION_MAX = 50;
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public static final double[] GEARS = {0.25, 0.5, 1.0};
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public static final double SLOW_SPEED = 0.25;
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public static final double FAST_SPEED = 0.5;
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public static final double TURBO_SPEED = 1.0;
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// public static List<CanDevice> CAN_DEVICES = new ArrayList<>();
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public static final class DefaultSwerveRotOffsets {
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public static final double FRONT_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
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public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
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public static final double BACK_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
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public static final double BACK_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
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}
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public static final class IDs {
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public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 2);
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public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 3);
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public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 10);
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public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 4);
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public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 5);
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public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 11);
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public static final CanDevice LEFT_BACK_WHEEL = new CanDevice("LEFT_BACK_WHEEL", 6);
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public static final CanDevice LEFT_BACK_STEER = new CanDevice("LEFT_BACK_STEER", 7);
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public static final CanDevice LEFT_BACK_ENCODER = new CanDevice("LEFT_BACK_ENCODER", 12);
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public static final CanDevice RIGHT_BACK_WHEEL = new CanDevice("RIGHT_BACK_WHEEL", 8);
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public static final CanDevice RIGHT_BACK_STEER = new CanDevice("RIGHT_BACK_STEER", 9);
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public static final CanDevice RIGHT_BACK_ENCODER = new CanDevice("RIGHT_BACK_ENCODER", 13);
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public static final CanDevice DRIVE_PIGEON = new CanDevice("DRIVE_PIGEON", 4);
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public static final CanDevice e = new CanDevice("NONEXISTANT_CAN", 50);
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}
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public static final class PIDConstants {
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public static final int SWERVE_SLOT_IDX = 0;
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
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public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
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}
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public static final class AutoConstants {
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public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
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public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
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public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
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public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
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public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
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public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
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}
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public static final class Conversions {
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public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5;
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public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
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public static final double MOTOR_REV_PER_STEER_REV = 12.8;
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public static final double TICKS_PER_MOTOR_REV = 0.5;
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public static final double WHEEL_DIAMETER_INCHES = 3.9;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
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public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
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public static final double TICK_TIME_TO_SECONDS = 10;
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public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
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}
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public static final class Configurations {
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public static final double OPEN_LOOP_RAMP_RATE = 0.2;
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public static final double CLOSED_LOOP_RAMP_RATE = 0.2;
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public static final double NEUTRAL_DEADBAND = 0.04;
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}
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public static final double MAX_SPEED_FEET_PER_SECOND = 20.4;
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public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
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// dimensions
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public static final double WIDTH = 18.5;
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public static final double HEIGHT = 18.5;
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public static final double HALF_WIDTH = WIDTH / 2.d;
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public static final double HALF_HEIGHT = HEIGHT / 2.d;
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// misc
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public static final int TIMEOUT_MS = 30;
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public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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}
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public static final class VisionConstants {
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}
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public static final class DriveConstants {
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public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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}
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public static final class LEDConstants {
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public static final int LED_SPARK_ID = 0;
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public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
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}
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public static final class OIConstants {
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public static final int XBOX_DRIVER_ID = 0;
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public static final int XBOX_OPERATOR_ID = 1;
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public static final int XBOX_PROGRAMMER_ID = 2;
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public static final double LEFT_AXIS_DEADBAND = 0.1;
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}
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}
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