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Merge branch 'master' of https://github.com/Team4388/RiseOfRidgebotics2020

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This commit is contained in:
Aarav Shah
2020-02-27 20:07:41 -07:00
parent b8f36a0c16 70a23eab1f
commit 08b8797152
10 changed files with 224 additions and 110 deletions
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src/main/java/frc4388/robot/Constants.java
+22 -12
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@@ -30,23 +30,30 @@ public final class Constants {
public static final int PIGEON_ID = 6;
/* Drive Inversions */
public static final boolean isRightMotorInverted = false;
public static final boolean isRightMotorInverted = true;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final double OPEN_LOOP_RAMP_RATE = 0.1;
public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
public static final double OPEN_LOOP_RAMP_RATE = 0.1; // Seconds from 0 to full power on motor
public static final double NEUTRAL_DEADBAND = 0.04;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(false, 40, 35, 0.01);
public static final int CLOSED_LOOP_TIME_MS = 1;
public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops
/* Drive Train Characteristics */
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
public static final double TICKS_PER_MOTOR_REV = 2048;
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.55);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;
@@ -78,13 +85,6 @@ public final class Constants {
public final static int SLOT_TURNING = 2;
public final static int SLOT_MOTION_MAGIC = 3;
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICK_TIME_TO_SECONDS = 0.1;
@@ -156,6 +156,16 @@ public final class Constants {
public static final double STORAGE_MIN_OUTPUT = -1.0;
public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class PneumaticsConstants {
public static final int PCM_MODULE_ID = 7;
public static final int SPEED_SHIFT_FORWARD_ID = 0;
public static final int SPEED_SHIFT_REVERSE_ID = 1;
public static final int COOL_FALCON_FORWARD_ID = 3;
public static final int COOL_FALCON_REVERSE_ID = 2;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;