Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-21 23:41:01 +00:00
committed by GitHub
parent fee7f99a9f 7eaf7c006a
commit c65b584ade
36 changed files with 479 additions and 70 deletions
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src/main/java/frc4388/robot/Constants.java
+23 -6
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@@ -75,20 +75,26 @@ public final class Constants {
}
public static final class IntakeConstants {
public static final int INTAKE_SPARK_ID = 9;
public static final int EXTENDER_SPARK_ID = 10;
public static final int INTAKE_SPARK_ID = -9;
public static final int EXTENDER_SPARK_ID = -10;
}
public static final class ShooterConstants {
public static final int SHOOTER_FALCON_ID = 8;
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = -1;
public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
public static final int SHOOTER_ROTATE_ID = 10;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final int SHOOTER_TIMEOUT_MS = 30;
public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double ENCODER_TICKS_PER_REV = 2048;
public static final double NEO_UNITS_PER_REV = 42;
public static final double DEGREES_PER_ROT = 360;
}
public static final class ClimberConstants {
@@ -100,7 +106,7 @@ public final class Constants {
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = 10;
public static final int STORAGE_CAN_ID = -1;
/* Ball Indexes */
public static final int BEAM_SENSOR_DIO_0 = 0;
@@ -130,6 +136,17 @@ public final class Constants {
public static final int LED_SPARK_ID = 0;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
public static final class VisionConstants {
public static final double FOV = 29.8; //Field of view of limelight
public static final double TARGET_HEIGHT = 82.75;
public static final double LIME_ANGLE = 18.7366;
public static final double TURN_P_VALUE = 0.65;
public static final double X_ANGLE_ERROR = 1.3;
public static final double MOTOR_DEAD_ZONE = 0.3;
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;