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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.math.util.Units;
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 frc.robot.util.IMUGyro;
public class Constants
{
public static final GenericHID controller = new GenericHID(0);
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 SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(0.54082, 2.4705);
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(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(0.5, 0.5);
public static final double ChainkP = 45.0;
public static final double ChainkI = 0.0;
public static final double ChainkD = 0.0;
public static final CANSparkMax chain = new CANSparkMax(50, MotorType.kBrushed);
public static final Encoder chain_encoder = new Encoder(8, 9);
}
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