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Work on adding advantagekit

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This commit is contained in:
Michael Mikovsky
2025-07-16 14:09:08 -07:00
parent a9e45fcf9b
commit 0bb2a774d7
132 changed files with 6788 additions and 3284 deletions
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src/main/java/frc4388/robot/subsystems/differential/DiffConstants.java
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package frc4388.robot.subsystems.differential;
import static edu.wpi.first.units.Units.Inches;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.measure.Distance;
import frc4388.utility.status.CanDevice;
import frc4388.utility.structs.Gains;
public class DiffConstants {
public static final Distance WHEEL_RADIUS_TO_ARC = Inches.of(2.5).times(Math.PI * 2); //meters
public static final Distance TRACK_DISPLACEMENT = Inches.of(6.5); //meters
public static final Distance TRACK_WIDTH = TRACK_DISPLACEMENT.times(2);
public static final Gains ROT_GAINS = new Gains(20, 0, 0);
public static final class IDs {
public static final CanDevice FRONT_LEFT_MOTOR = new CanDevice("SRX_FRONT_LEFT", 4);
public static final CanDevice FRONT_RIGHT_MOTOR = new CanDevice("SRX_FRONT_RIGHT", 1);
public static final CanDevice REAR_LEFT_MOTOR = new CanDevice("SRX_REAR_LEFT", 2);
public static final CanDevice REAR_RIGHT_MOTOR = new CanDevice("SRX_REAR_RIGHT", 3);
// public static final CanDevice FRONT_LEFT_MOTOR = new CanDevice("SRX_FRONT_LEFT", 3);
// public static final CanDevice FRONT_RIGHT_MOTOR = new CanDevice("SRX_FRONT_RIGHT", 2);
// public static final CanDevice REAR_LEFT_MOTOR = new CanDevice("SRX_REAR_LEFT", 1);
// public static final CanDevice REAR_RIGHT_MOTOR = new CanDevice("SRX_REAR_RIGHT", 4);
}
}