/*----------------------------------------------------------------------------*/ /* 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 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 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; public static final double STOP_VELOCITY = 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(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0)); public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0)); 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.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; 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; } // 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 } } }