/*----------------------------------------------------------------------------*/ /* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ package frc4388.robot; import java.util.ArrayList; import java.util.function.Consumer; import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * constants. This class should not be used for any other purpose. All constants should be declared * globally (i.e. public static). Do not put anything functional in this class. * *

* It is advised to statically import this class (or one of its inner classes) wherever the * constants are needed, to reduce verbosity. */ public final class Constants { public enum Mode { COMPETITIVE, CASUAL; private static Mode mode = Mode.COMPETITIVE; private static ArrayList> changeHandlers = new ArrayList<>(); public static void register(Consumer changeHandler) { changeHandlers.add(changeHandler); } public static Mode get() { return mode; } public static void set(Mode mode) { System.out.println(mode); int i = mode.ordinal(); Mode.mode = mode; CommandScheduler.getInstance().disable(); changeHandlers.forEach(c -> c.accept(mode)); CommandScheduler.getInstance().enable(); DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR = DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR_MODES[i]; DriveConstants.STEER_WITH_JOYSTICK_FACTOR = DriveConstants.STEER_WITH_JOYSTICK_FACTOR_MODES[i]; IntakeConstants.INTAKE_SPEED = IntakeConstants.INTAKE_SPEED_MODES[i]; StorageConstants.STORAGE_SPEED = StorageConstants.STORAGE_SPEED_MODES[i]; } } public static final int SELECTED_AUTO = 0; 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; public static final int DRIVE_RIGHT_BACK_CAN_ID = 5; public static final int PIGEON_ID = 6; /* Drive Inversions */ 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 int DRIVE_TIMEOUT_MS = 30; // Use for all motor config public static final double OPEN_LOOP_RAMP_RATE = 0.2; // 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, 60, 40, 2); public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops public static final double COS_MULTIPLIER_LOW = 1.0; public static final double COS_MULTIPLIER_HIGH = 0.8; /* Drive Train Characteristics */ public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 7.29; 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 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(0.05, 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; private static final double[] DRIVE_WITH_JOYSTICK_FACTOR_MODES = { 1.0, 0.7 }; public static double DRIVE_WITH_JOYSTICK_FACTOR; private static final double[] STEER_WITH_JOYSTICK_FACTOR_MODES = { 1.0, 0.9 }; public static double STEER_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); 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; public static final Gains DRIVE_VELOCITY_GAINS_BACK = new Gains(0.0, 0.0, 0.0, 0.05, 0, 1.0); /* Trajectory Constants */ public static final double MAX_SPEED_METERS_PER_SECOND = 1.0; public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 1.0; public static final double TRACK_WIDTH_METERS = 0.648; public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS); /* Remote Sensors */ public static final int REMOTE_0 = 0; public static final int REMOTE_1 = 1; /* PID Indexes */ public static final int PID_PRIMARY = 0; public static final int PID_TURN = 1; /* PID SLOTS */ public static final int SLOT_DISTANCE = 0; public static final int SLOT_VELOCITY = 1; public static final int SLOT_TURNING = 2; public static final int SLOT_MOTION_MAGIC = 3; /* 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; public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS; public static final double INCHES_PER_METER = 39.370; public static final double METERS_PER_INCH = 1 / INCHES_PER_METER; public static final double WHEEL_ROT_PER_MOTOR_ROT_HIGH = 1 / MOTOR_ROT_PER_WHEEL_ROT_HIGH; public static final double TICKS_PER_WHEEL_REV_HIGH = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT_HIGH; public static final double TICKS_PER_INCH_HIGH = TICKS_PER_WHEEL_REV_HIGH / INCHES_PER_WHEEL_REV; public static final double INCHES_PER_TICK_HIGH = 1 / TICKS_PER_INCH_HIGH; public static final double WHEEL_ROT_PER_MOTOR_ROT_LOW = 1 / MOTOR_ROT_PER_WHEEL_ROT_LOW; 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 class ShooterConstants { /* Motor IDs */ public static final int SHOOTER_FALCON_BALLER_ID = 8; public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 15; 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(0.34, 0.0, 0.0, 0.055, 0, 1.0); // Ff was 0.055 // public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0); public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 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, 0.3); 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 SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); 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 double TURRET_MOTOR_ROTS_PER_ROT = 101.04972; // 89.56696; public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = -28.452166; 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 = 0.2; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; // TODO: Find public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; // TODO: Find 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 = 14; } public static final class LevelerConstants { public static final int LEVELER_CAN_ID = 30; } public static final class IntakeConstants { public static final double EXTENDER_SPEED = 0.3; private static final double[] INTAKE_SPEED_MODES = { 1.0, 0.5 }; public static double INTAKE_SPEED; public static final int INTAKE_SPARK_ID = 12; public static final int EXTENDER_SPARK_ID = 13; } public static final class StorageConstants { public static final int STORAGE_CAN_ID = 11; public static final double STORAGE_PARTIAL_BALL = 2; public static final double STORAGE_FULL_BALL = 7; private static final double[] STORAGE_SPEED_MODES = { 0.75, 0.50 }; public static double STORAGE_SPEED; public static final double STORAGE_TIMEOUT = 3000; /* Storage Characteristics */ public static final double MOTOR_ROTS_PER_STORAGE_ROT = 1; // For the first storage belt public static final double INCHES_PER_STORAGE_ROT = 1; // Circumference of the first storage belt /* Ball Indexes */ public static final int BEAM_SENSOR_SHOOTER = 11; public static final int BEAM_SENSOR_USELESS = 12; public static final int BEAM_SENSOR_STORAGE = 13; public static final int BEAM_SENSOR_INTAKE = 14; /* PID Gains */ public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0); /* PID Values */ public static final int SLOT_DISTANCE = 0; /* PID Indexes */ public static final int PID_PRIMARY = 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 { 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 = 67.5; public static final double LIME_ANGLE = 24.7; public static final double TURN_P_VALUE = 0.8; public static final double X_ANGLE_ERROR = 0.5; public static final double MOTOR_DEAD_ZONE = 0.2; public static final double DISTANCE_ERROR_EQUATION_M = 1.1279; public static final double DISTANCE_ERROR_EQUATION_B = -15.0684; public static final double GRAV = 385.83; // Galactic Search public static final double searchError = 2; /* public static final double bothCloseVisibleY = -17.69; public static final double closeLeftVisibleY = -12.57; public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04; */ public static final double[] aRed = { 1.6, -11.7 }; public static final double[] bRed = { 2.5, -5.5 }; public static final double[] aBlue = { 9.9, 9.0 }; public static final double[] bBlue = { 5.5, 13.3 }; } // for vision odo proto public static final class VOPConstants { public static final double TARGET_HEIGHT = 1.d; } public static final class OIConstants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; public static final int BUTTON_FOX_ID = 2; } }