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2026-02-20 16:20:26 -05:00
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src/main/java/frc/robot/Constants.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import swervelib.math.Matter;
/**
* The Constants class provides a convenient place for teams to hold robot-wide
* numerical or boolean constants. This
* class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do
* not put anything functional in this class.
*
* <p>
* It is advised to statically import this class (or one of its inner classes)
* wherever the
* constants are needed, to reduce verbosity.
*/
public final class Constants {
private static ShuffleboardTab programmingTab = Shuffleboard.getTab("Programming");
public static final double ROBOT_MASS = (148 - 20.3) * 0.453592; // 32lbs * kg per pound
public static final Matter CHASSIS = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS);
public static final double LOOP_TIME = 0.13; // s, 20ms + 110ms sprk max velocity lag
public static final double MAX_SPEED = Units.feetToMeters(14.5);
// Maximum speed of the robot in meters per second, used to limit acceleration.
// public static final class AutonConstants
// {
//
// public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0,
// 0);
// public static final PIDConstants ANGLE_PID = new PIDConstants(0.4, 0, 0.01);
// }
public static final class DrivebaseConstants {
// Hold time on motor brakes when disabled
public static final double WHEEL_LOCK_TIME = 10; // seconds
}
public static class OperatorConstants {
// Joystick Deadband
public static final double DEADBAND = 0.1;
public static final double LEFT_Y_DEADBAND = 0.1;
public static final double RIGHT_X_DEADBAND = 0.1;
public static final double TURN_CONSTANT = 6;
}
public static class ShooterConstants {
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter Velocity", -0.5)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_VELOCITY;
public static void getShooterVelocity() {
SHOOTER_VELOCITY = shooterVelocity.getDouble(-0.5);
}
public static final int CENTER_SHOOTER_MOTOR_ID = 42;
public static final int LEFT_SHOOTER_MOTOR_ID = 41;
public static final int RIGHT_SHOOTER_MOTOR_ID = 40;
public static final int INDEXER_MOTOR_ID = 43;
public static final double INDEXER_MOTOR_SPEED = 0.6;
public static final int LEFT_ACTUATOR_ID = 44;
public static final int RIGHT_ACTUATOR_ID = 45;
public static double DESIRED_POTENTIOMETER_DISTANCE;
// TO DO: need to equation that calculates desired potentiometer distance
}
public static class IntakeConstants {
private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.65)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_SPEED;
public static void getIntakeWheelsSpeed() {
INTAKE_WHEELS_MOTOR_SPEED = intakeSpeed.getDouble(-0.65);
}
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 0;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.01;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0;
}
}
public static class RampConstants {
public static final int RAMP_MOTOR_ID = 45;
public static double RAMP_MOTOR_SPEED;
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
private static GenericEntry rampSpeed = programmingTab.add("Desired Ramp Speed", 0.4)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void getRampMotorSpeed() {
RAMP_MOTOR_SPEED = rampSpeed.getDouble(0.4);
}
}
public static class LimeLight {
public static final String LIMELIGHT_NAME = "limelight";
// public static final int[] ALL_REEF_APRILTAGS = { 6, 7, 8, 9, 10, 11, 17, 18,
// 19, 20, 21, 22 };
public static final AprilTagFieldLayout APRILTAG_FIELD_LAYOUT = AprilTagFieldLayout
.loadField(AprilTagFields.k2026RebuiltAndymark);
public static final double BUMPER_WIDTH = Units.inchesToMeters(0.0); // Get This Value // Original: 2.75
// public static final double ROBOT_WIDTH = Units.inchesToMeters(30 +
// BUMPER_WIDTH); // Tis a square, don't need this
public static final double ROBOT_SIDE_LENGTH = Units.inchesToMeters(27);
// public static final Transform2d HALF_ROBOT = new
// Transform2d(ROBOT_SIDE_LENGTH / 3.0, 0, new Rotation2d());
public static double LIMELIGHT_TY;
}
public static class TargetingConstants {
public static final Pose2d RIGHT_CLIMB_POSE = new Pose2d(1.075, 4.75, Rotation2d.fromDegrees(90));
public static final Pose2d LEFT_CLIMB_POSE = new Pose2d(1.075, 2.75, Rotation2d.fromDegrees(-90));
}
public static class ClimberConstants {
public static final int CLIMB_MOTOR_ID = 60;
public static final int RATCHET_PWM_PORT = 1;
public static final double RATCHET_UNLOCK_ANGLE = 0.3;
public static final double RATCHET_LOCK_ANGLE = 0.15;
public static final double CLIMBER_SPEED = .1;
}
}