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

Merge branch 'master' into auto-programming

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-03-02 23:44:54 +00:00
committed by GitHub
parent 4bf9873f85 a83304baf0
commit d8521c4514
42 changed files with 1429 additions and 358 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+66 -36
View File
@@ -32,31 +32,38 @@ public final class Constants {
public static final int PIGEON_ID = 6;
/* Drive Inversions */
public static final boolean isRightMotorInverted = false;
public static final boolean isRightMotorInverted = true;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final double OPEN_LOOP_RAMP_RATE = 0.1;
public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
public static final double OPEN_LOOP_RAMP_RATE = 0.1; // Seconds from 0 to full power on motor
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 int CLOSED_LOOP_TIME_MS = 1;
new SupplyCurrentLimitConfiguration(false, 60, 40, 2);
public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops
/* Drive Train Characteristics */
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
public static final double TICKS_PER_MOTOR_REV = 2048;
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = 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_VELOCITY_GAINS_LOW = new Gains(0.05, 0.0, 1.0, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 2.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0, 0.025, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 30000;
public static final int DRIVE_ACCELERATION = 23000;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
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);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
public static final int DRIVE_ACCELERATION_HIGH = 7000;
@@ -80,13 +87,6 @@ public final class Constants {
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;
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICK_TIME_TO_SECONDS = 0.1;
@@ -105,39 +105,60 @@ public final class Constants {
public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW;
}
public static final class IntakeConstants {
public static final int INTAKE_SPARK_ID = -9;
public static final int EXTENDER_SPARK_ID = -10;
public static final class IntakeConstants {;
public static final double EXTENDER_SPEED = 0.3;
public static final int INTAKE_SPARK_ID = 12;
public static final int EXTENDER_SPARK_ID = 13;
}
public static final class ShooterConstants {
/* 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;
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
public static final int SHOOTER_ROTATE_ID = 9;
/* 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 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 Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.2, 0.0, 0, 0.0453, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 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 int TURRET_RIGHT_SOFT_LIMIT = -2;
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
public static final double TURRET_CALIBRATE_SPEED = 0.075;
public static final int HOOD_UP_SOFT_LIMIT = 33;
public static final int HOOD_DOWN_SOFT_LIMIT = 3;
public static final double HOOD_CONVERT_SLOPE = 0.47;
public static final double HOOD_CONVERT_B = 40.5;
public static final double HOOD_CALIBRATE_SPEED = 0.1;
public static final double DRUM_RAMP_LIMIT = 1000;
public static final double DRUM_VELOCITY_BOUND = 300;
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = 10;
public static final int CLIMBER_SPARK_ID = 14;
}
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = -1;
public static final int LEVELER_CAN_ID = 15;
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = -1;
public static final int STORAGE_CAN_ID = 11;
public static final double STORAGE_PARTIAL_BALL = 2;
public static final double STORAGE_FULL_BALL = 7;
public static final double STORAGE_SPEED = 0.5;
public static final double STORAGE_TIMEOUT = 2000;
/* Ball Indexes */
public static final int BEAM_SENSOR_DIO_0 = 0;
@@ -154,9 +175,18 @@ public final class Constants {
public static final int PID_PRIMARY = 0;
/* PID Gains */
public static final double STORAGE_MIN_OUTPUT = -1.0;
public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class PneumaticsConstants {
public static final int PCM_MODULE_ID = 7;
public static final int SPEED_SHIFT_FORWARD_ID = 0;
public static final int SPEED_SHIFT_REVERSE_ID = 1;
public static final int COOL_FALCON_FORWARD_ID = 3;
public static final int COOL_FALCON_REVERSE_ID = 2;
}
public static final class LEDConstants {
@@ -166,8 +196,8 @@ public final class Constants {
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 TARGET_HEIGHT = 64;
public static final double LIME_ANGLE = 25;
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;