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

Variable Constants

Browse Source
This commit is contained in:
aborunda
2021-10-25 18:02:23 -06:00
parent 690bad77c5
commit 695ddfca77
4 changed files with 39 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+23
View File
@@ -23,6 +23,26 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public enum Mode {
COMPETITIVE, CASUAL;
private static Mode mode;
public static Mode get() {
return mode;
}
public static void set(Mode mode) {
Mode.mode = mode;
int i = mode.ordinal();
DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR = DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR_MODES[i];
}
public static void toggle() {
int i = mode.ordinal() + 1;
Mode[] values = values();
i = i >= values.length ? 0 : i;
mode = values[i];
System.out.println(mode);
}
}
public static final int SELECTED_AUTO = 0;
public static final class DriveConstants {
@@ -63,6 +83,9 @@ public final class Constants {
public static final int DRIVE_CRUISE_VELOCITY = 30000;
public static final int DRIVE_ACCELERATION = 23000;
private static final double[] DRIVE_WITH_JOYSTICK_FACTOR_MODES = { 1.0, 0.5 };
public static double DRIVE_WITH_JOYSTICK_FACTOR;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.55);