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Merge branch 'shoot-button' into Leds_idk

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Michael Mikovsky
2026-02-11 16:34:12 -07:00
committed by GitHub
parent 0cc2d423fe f2415195ce
commit de0876293b
35 changed files with 1597 additions and 370 deletions
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src/main/java/frc4388/robot/constants/Constants.java
+17 -22
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@@ -7,7 +7,7 @@
package frc4388.robot.constants;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.CANBus;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
@@ -21,7 +21,6 @@ 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;
@@ -34,7 +33,8 @@ import frc4388.utility.structs.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final String CANBUS_NAME = "rio";
public static final CANBus RIO_CANBUS = CANBus.roboRIO();
public static final CANBus CANIVORE_CANBUS = new CANBus("drivetrain");
// public static final class LiDARConstants {
// public static final int REEF_LIDAR_DIO_CHANNEL = 7;
@@ -91,32 +91,27 @@ public final class Constants {
public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4);
public static final Matrix<N3, N1> 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.SOLID_RED_ORANGE;
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;
// LED color for when the intake is out
public static final LEDPatterns INTAKE_OUT = LEDPatterns.SOLID_RED;
// LED color for when the intake is out, but the driver conditions are bad
public static final LEDPatterns INTAKE_OUT_BADPHYS = LEDPatterns.RED_STROBE;
public static final LEDPatterns RED_PATTERN = LEDPatterns.LAVA_WAVES;
public static final LEDPatterns BLUE_PATTERN = LEDPatterns.OCEAN_WAVES;
// LED color for when the flywheel speed isn't in tolarance
public static final LEDPatterns BAD_FLYWEEL = LEDPatterns.SOLID_GOLD;
// LED color for when the flywheel speed isn't in tolarance, but the driver conditions are bad
public static final LEDPatterns BAD_FLYWEEL_BADPHYS = LEDPatterns.GOLD_STROBE;
// Operator ready to shoot
public static final LEDPatterns OPREADY = LEDPatterns.SOLID_WHITE;
// Operator ready to shoot, but the driver conditions are bad
public static final LEDPatterns OPREADY_BADPHYS = LEDPatterns.WHITE_STROBE;
}
public static final class OIConstants {