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second commit

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Mehooliu
2026-02-20 16:27:48 -05:00
parent 5adb6549b5 a50d67d7f5
commit aa50a664e5
19 changed files with 909 additions and 0 deletions
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70
src/main/java/frc/robot/Constants.java
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@@ -33,7 +33,11 @@ public final class Constants {
private static ShuffleboardTab programmingTab = Shuffleboard.getTab("Programming");
<<<<<<< HEAD
public static final double ROBOT_MASS = (148 - 20.3) * 0.453592; // 32lbs * kg per pound
=======
public static final double ROBOT_MASS = 115 * 0.453592; // 32lbs * kg per pound
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
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);
@@ -63,6 +67,7 @@ public final class Constants {
}
public static class ShooterConstants {
<<<<<<< HEAD
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter Velocity", -0.5)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
@@ -70,15 +75,44 @@ public final class Constants {
public static void getShooterVelocity() {
SHOOTER_VELOCITY = shooterVelocity.getDouble(-0.5);
=======
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_RPM = -0.6;
public static double SHOOTER_POWER = -0.45;
public static void getShooterVelocity() {
SHOOTER_RPM = shooterVelocity.getDouble(-1000);
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
}
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;
<<<<<<< HEAD
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 INDEXER_AND_RAMP_MOTOR_RPM;
public static double SHOOTER_MOTOR_P = 0.001;
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 1000)
.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 getIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(1000);
}
public static final int LEFT_ACTUATOR_PWM_PORT = 1;
public static final int RIGHT_ACTUATOR_PWM_PORT = 3;
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
public static double DESIRED_POTENTIOMETER_DISTANCE;
@@ -86,6 +120,7 @@ public final class Constants {
}
public static class IntakeConstants {
<<<<<<< HEAD
private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.65)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
@@ -93,10 +128,19 @@ public final class Constants {
public static void getIntakeWheelsSpeed() {
INTAKE_WHEELS_MOTOR_SPEED = intakeSpeed.getDouble(-0.65);
=======
private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_RPM;
public static void getIntakeWheelsSpeed() {
INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
}
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
<<<<<<< HEAD
public static final double INTAKE_COLLECT_ENCODER_VALUE = 0;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
@@ -104,12 +148,23 @@ public final class Constants {
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 final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = 2.2550222873687744;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.05;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0.001;
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
}
}
public static class RampConstants {
public static final int RAMP_MOTOR_ID = 45;
<<<<<<< HEAD
public static double RAMP_MOTOR_SPEED;
// create object and a new widget under programming tab in Elastic where object
@@ -122,6 +177,13 @@ public final class Constants {
public static void getRampMotorSpeed() {
RAMP_MOTOR_SPEED = rampSpeed.getDouble(0.4);
}
=======
public static double RAMP_MOTOR_SPEED = .6;
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
}
public static class LimeLight {
@@ -151,11 +213,19 @@ public final class Constants {
public static class ClimberConstants {
public static final int CLIMB_MOTOR_ID = 60;
<<<<<<< HEAD
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;
=======
public static final int RATCHET_PWM_PORT = 0;
public static final double RATCHET_UNLOCK_ANGLE = 0;
public static final double RATCHET_LOCK_ANGLE = 180;
public static final double CLIMBER_SPEED = .5;
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
}
}