src/main/java/frc/robot/Constants.java


1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37

package frc.robot;

import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

public class Constants 
{
    // other constants

    public static final int PortDriverController = 0;

    public static final double DriveMaxSpeed = 0;
    public static final double DriveMaxAngular = 0;

    public static final double WheelRadius = 0; // in meters
    public static final double TrackWidth = 0;  // in meters

    public static final double EncoderResolution = 4096;

    // public static final DifferentialDrive drive = new DifferentialDrive(...);
    
    public static final AnalogGyro gyro = new AnalogGyro(...);

    public static final PWMSparkMax motorL_leader = new PWMSparkMax(...);
    public static final PWMSparkMax motorL_follower = new PWMSparkMax(...);
    public static final PWMSparkMax motorR_leader = new PWMSparkMax(...);
    public static final PWMSparkMax motorR_follower = new PWMSparkMax(...);


    public static final Encoder encoderL = new Encoder(...);
    public static final Encoder encoderR = new Encoder(...);

    public static final SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(...);
}