diff options
Diffstat (limited to 'src/main/java/frc/robot/Constants.java')
| -rw-r--r-- | src/main/java/frc/robot/Constants.java | 56 |
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); } |