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Cleanup Drive Constructor

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Also move constants to Drive Constants
This commit is contained in:
Keenan D. Buckley
2020-02-25 23:18:17 -07:00
parent f60e4a8bf9
commit 5225a98c2c
2 changed files with 79 additions and 86 deletions
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src/main/java/frc4388/robot/Constants.java
+13
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@@ -7,6 +7,8 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import frc4388.utility.LEDPatterns;
@@ -86,6 +88,17 @@ public final class Constants {
public static final double TICKS_PER_WHEEL_REV_LOW = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT_LOW;
public static final double TICKS_PER_INCH_LOW = TICKS_PER_WHEEL_REV_LOW/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW;
public static final double OPEN_LOOP_RAMP_RATE = 0.1;
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 boolean isRightMotorInverted = false;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false;
public static final int CLOSED_LOOP_TIME_MS = 1;
}
public static final class IntakeConstants {