Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Added Odometry and Baseplate for Trajectory

Browse Source 
Need to still add Autonomous Command for actual Trajectory.
This commit is contained in:
Aarav Shah
2020-02-10 20:13:15 -07:00
parent 68a39f8eca
commit 27824bdcfc
3 changed files with 202 additions and 106 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+4 -4
View File
@@ -50,16 +50,16 @@ public final class Constants {
public final static int SLOT_MOTION_MAGIC = 3;
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048*2;
public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5;
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double MOTOR_ROT_PER_WHEEL_ROT = 5.13;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
public static final double WHEEL_TO_MOTOR_GEAR_RATIO = 1/MOTOR_TO_WHEEL_GEAR_RATIO;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_TO_WHEEL_GEAR_RATIO;
public static final double WHEEL_ROT_PER_MOTOR_ROT = 1/MOTOR_ROT_PER_WHEEL_ROT;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;