Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into button

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This commit is contained in:
Keenan D. Buckley
2020-02-22 00:03:14 +00:00
committed by GitHub
parent e7e91d9c4c 73e2d0fd59
commit 37a5035de5
10 changed files with 714 additions and 262 deletions
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src/main/java/frc4388/robot/Constants.java
+19 -10
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@@ -7,6 +7,7 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import frc4388.utility.LEDPatterns;
/**
@@ -28,13 +29,19 @@ public final class Constants {
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.1, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_MOTION_MAGIC_GAINS = 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;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5);
//public static final Gains DRIVE_MOTION_MAGIC_GAINS = 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;
/* Trajectory Constants */
public static final double MAX_SPEED_METERS_PER_SECOND = 3;
public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 3;
public static final double TRACK_WIDTH_METERS = 0.648;
public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS);
/* Remote Sensors */
public final static int REMOTE_0 = 0;
public final static int REMOTE_1 = 1;
@@ -50,19 +57,21 @@ 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;
public static final double INCHES_PER_METER = 39.370;
public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
}
public static final class IntakeConstants {