more subsystems

1 files changed, 49 insertions, 7 deletions

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 017fa74..1ff70bb 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -3,31 +3,73 @@ package frc.robot;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.math.controller.ArmFeedforward;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.I2C.Port;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.util.IMUGyro;
 
-public class Constants 
+public class Constants
 {
-    public static final CommandXboxController controller = new CommandXboxController(0);
+    public static final GenericHID controller = new GenericHID(0);
 
     public static final double DriveMaxSpeed = 5; // m/s
     public static final double DriveMaxAngular = Math.PI; // rad/s?
 
+    // for Drivetrain
     public static final double WheelDiameter = 0.1524; // in meters
     public static final double TrackWidth = 0.685;  // in meters
-
     public static final double EncoderResolution = 4096 / 24;
-    
+
     public static final IMUGyro gyro = new IMUGyro(new I2C(Port.kOnboard, 0x68));
 
+    public static final TrapezoidProfile.Constraints motor_constraints = 
+        new TrapezoidProfile.Constraints(DriveMaxSpeed, 4.5);
+    public static final SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(1.1, 3.5);
+    // public static final SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(0, 0, 0);
+
     public static final CANSparkMax motorL_leader = new CANSparkMax(11, MotorType.kBrushed);
     public static final CANSparkMax motorL_follower = new CANSparkMax(12, MotorType.kBrushed);
     public static final CANSparkMax motorR_leader = new CANSparkMax(13, MotorType.kBrushed);
     public static final CANSparkMax motorR_follower = new CANSparkMax(14, MotorType.kBrushed);
 
-    public static final Encoder encoderL = new Encoder(0, 1);
-    public static final Encoder encoderR = new Encoder(2, 3);
+    public static final Encoder encoderL = new Encoder(6, 7); 
+    public static final Encoder encoderR = new Encoder(4, 5);
+
+    // for Intake
+    public static final CANSparkMax intakeT = null;//new CANSparkMax(41, MotorType.kBrushless);
+    public static final CANSparkMax intakeD = null;//new CANSparkMax(42, MotorType.kBrushless);
+    // for Shooter
+    public static final CANSparkMax shooterT = null;//new CANSparkMax(61, MotorType.kBrushless);
+    public static final CANSparkMax shooterD = null;//new CANSparkMax(62, MotorType.kBrushless);
+
+    // for Arm]
+    public static final double ArmGearReduction = 60;
+
+    public static final ArmFeedforward arm_feedforward = new ArmFeedforward(0, 0, 0);
+    public static final TrapezoidProfile.Constraints arm_constraints = 
+        new TrapezoidProfile.Constraints(0, 0);
+
+    public static final double ArmkP = 0.0;
+    public static final double ArmkI = 0.0;
+    public static final double ArmkD = 0.0;
+
+    public static final CANSparkMax armL = null;//new CANSparkMax(51, MotorType.kBrushless);
+    public static final CANSparkMax armR = null;//new CANSparkMax(52, MotorType.kBrushless);
+
+    // for Chain 
+    public static final double ChainEncoderScale = 2600;
+
+    public static final TrapezoidProfile.Constraints chain_constraints = 
+        new TrapezoidProfile.Constraints(0, 0);
+
+    public static final double ChainkP = 0.0;
+    public static final double ChainkI = 0.0;
+    public static final double ChainkD = 0.0;
+    
+    public static final CANSparkMax chain = null;//new CANSparkMax(70, MotorType.kBrushed);
+    public static final Encoder chain_encoder = null;//new Encoder(3, 4);
 }