/*----------------------------------------------------------------------------*/ /* 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 edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; 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 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; /* PID Constants Drive*/ public static final int DRIVE_TIMEOUT_MS = 30; public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3); public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05); public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5); //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 = 20000; //public static final int DRIVE_ACCELERATION = 7000; /* Trajectory Constants */ public static final double MAX_SPEED_METERS_PER_SECOND = 3; public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 3; public static final double TRACK_WIDTH_METERS = 0.648; public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS); /* Remote Sensors */ public final static int REMOTE_0 = 0; public final static int REMOTE_1 = 1; /* 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; public static final double MOTOR_ROT_PER_WHEEL_ROT = 5.13; 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_ROT_PER_MOTOR_ROT = 1/MOTOR_ROT_PER_WHEEL_ROT; public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT; 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 double INCHES_PER_METER = 39.370; public static final double METERS_PER_INCH = 1/INCHES_PER_METER; } 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 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; /* 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 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 { public static final int CLIMBER_SPARK_ID = 10; } public static final class LevelerConstants { public static final int LEVELER_CAN_ID = -1; } public static final class StorageConstants { public static final int STORAGE_CAN_ID = -1; /* Ball Indexes */ 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; /* PID Values */ public static final int SLOT_DISTANCE = 0; /* PID Indexes */ public static final int PID_PRIMARY = 0; /* PID Gains */ public static final double storP = 0.1; public static final double storI = 1e-4; public static final double storD = 1.0; public static final double storIz = 0.0; public static final double storF = 0.0; public static final double storkmaxOutput = 1.0; public static final double storkminOutput = -1.0; } 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 = 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; public static final int XBOX_OPERATOR_ID = 1; } }