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Merge branch 'master' into add-shooter-subsystem-PID-new

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This commit is contained in:
Keenan D. Buckley
2020-02-11 00:16:16 +00:00
committed by GitHub
parent 9d8f047bed df1468d6ae
commit 57cbc028b9
23 changed files with 922 additions and 145 deletions
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src/main/java/frc4388/robot/Constants.java
+55 -20
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@@ -19,6 +19,7 @@ import frc4388.utility.LEDPatterns;
*/
public final class Constants {
public static final class DriveConstants {
/* Drive Train IDs */
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
@@ -26,31 +27,48 @@ public final class Constants {
public static final int PIGEON_ID = 6;
/* PID Constants Drive*/
public static final int DRIVE_SLOT_IDX = 0;
public static final int DRIVE_PID_LOOP_IDX = 0;
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
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(0.0, 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, 0.3);
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 = 2000;
public static final int DRIVE_ACCELERATION = 1000;
/* Remote Sensors */
public final static int REMOTE_0 = 0;
public final static int REMOTE_1 = 1;
public static final double ENCODER_TICKS_PER_REV = 2048;
/* PID Indexes */
public final static int PID_PRIMARY = 0;
public final static int PID_TURN = 1;
/* PID SLOTS */
public final static int SLOT_DISTANCE = 0;
public final static int SLOT_VELOCITY = 1;
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*2;
public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5;
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 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 class IntakeConstants {
public static final int INTAKE_SPARK_ID = 1;
}
public static final class ElevatorConstants {
public static final int TALON_1 = 7;
public static final int TALON_2 = 8;
/* PID Constants Elevator */
public static final int ELEVATOR_SLOT_IDX = 0;
public static final int ELEVATOR_PID_LOOP_IDX = 1;
public static final int ELEVATOR_TIMEOUT_MS = 30;
public static final Gains ELEVATOR_GAINS = new Gains(0.1, 0.0, 0.0, 0.2, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
public static final class ShooterConstants {
public static final int SHOOTER_FALCON_ID = 8;
@@ -62,10 +80,27 @@ public final class Constants {
public static final double ENCODER_TICKS_PER_REV = 2048;
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = 10;
}
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = 9;
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = -1;
public static final int BEAM_SENSOR_DIO_0 = 0;
public static final int BEAM_SENSOR_DIO_1 = 1;
public static final int BEAM_SENSOR_DIO_2 = 2;
public static final int BEAM_SENSOR_DIO_3 = 3;
public static final int BEAM_SENSOR_DIO_4 = 4;
public static final int BEAM_SENSOR_DIO_5 = 5;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}