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package frc.robot;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.I2C.Port;
import frc.robot.util.IMUGyro;
public class Constants
{
public static final GenericHID controller1 = new GenericHID(0);
public static final GenericHID controller2 = new GenericHID(1);
public static final double InputSmoothing = 0.1;
public static final double DriveMaxSpeed = 5; // m/s
public static final double DriveMaxAcceleration = 5; // m/s^2
public static final double DriveMaxAngular = Math.PI; // rad/s?
public static final double AutonomousMaxSpeed = 0.5; // m/s
public static final double AutonomousMaxAcceleration = 0.25; // m/s^2
// for Drivetrain
public static final double WheelDiameter = Units.inchesToMeters(6); // in meters
public static final double TrackWidth = 0.58; // in meters
public static final double EncoderResolution = 16;
public static final IMUGyro gyro = new IMUGyro(new I2C(Port.kOnboard, 0x68));
public static final TrapezoidProfile.Constraints motor_constraints =
new TrapezoidProfile.Constraints(DriveMaxSpeed, DriveMaxAcceleration);
public static final double MotorkS = 0.54082;
public static final double MotorkV = 2.4705;
public static final int motorL_leader_ID = 11;
public static final int motorL_follower_ID = 12;
public static final int motorR_leader_ID = 13;
public static final int motorR_follower_ID = 14;
public static final int[] encoderL_PINS = {6, 7};
public static final int[] encoderR_PINS = {4, 5};
// for Intake
public static final int intakeT_ID = 32;
public static final int intakeD_ID = 31;
// for Shooter
public static final int shooterT_ID = 21;
public static final int shooterD_ID = 22;
// for Arm
public static final double ArmGearReduction = 60;
public static final double ArmEpsilon = 3 * Math.PI/180;
public static final double ArmkS = 0.4;
public static final double ArmkG = 0.495;
public static final double ArmkV = 0;
public static final double arm_initial_position = -43.0 * Math.PI / 180.0;
public static final TrapezoidProfile.Constraints arm_constraints =
new TrapezoidProfile.Constraints(7, 5);
public static final double ArmkP = 11.5;
public static final double ArmkI = 0.0;
public static final double ArmkD = 0.4;
public static final int armL_ID = 41;
public static final int armR_ID = 42;
// for Chain
public static final double ChainEncoderScale = 3200;
public static final double ChainEpsilon = 0.05;
public static final TrapezoidProfile.Constraints chain_constraints =
new TrapezoidProfile.Constraints(5, 5);
public static final double ChainkP = 45.0;
public static final double ChainkI = 0.0;
public static final double ChainkD = 0.0;
public static final int chain_ID = 50;
public static final int[] chain_encoder_PINS = {8, 9};
// Hooks
public static final int hookL_ID = 62;
public static final int hookR_ID = 61;
public static final int[] hookL_PINS = {0, 1};
public static final int[] hookR_PINS = {2, 3};
}
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