// 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 org.photonvision.PhotonCamera; import org.photonvision.PhotonPoseEstimator; 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.Rotation3d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; 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. * *

* 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 = 115 * 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 shooterRPM = programmingTab.add("Desired Shooter RPM", -4000) .withWidget(BuiltInWidgets.kNumberBar).getEntry(); public static double SHOOTER_RPM; public static void updateShooterRPM() { SHOOTER_RPM = shooterRPM.getDouble(-4000); } 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 double SHOOTER_MOTOR_P = 0.0018; public static double SHOOTER_MOTOR_I = 0; public static double SHOOTER_MOTOR_D = 0; public static double INDEXER_MOTOR_P = 0.0001; public static double INDEXER_MOTOR_I = 0; public static double INDEXER_MOTOR_D = 0; /*private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer RPM", 2000) .withWidget(BuiltInWidgets.kNumberBar).getEntry();*/ public static double INDEXER_AND_RAMP_MOTOR_RPM = 10000; // this method called in robot periodic so values updated in elastic are // constantly read and applied to RAMP_MOTOR_SPEED /*public static void updateIndexerAndRampMotorRPM() { INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(2000); }*/ } public static class IntakeConstants { /* private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000) .withWidget(BuiltInWidgets.kNumberBar).getEntry(); */ public static double INTAKE_WHEELS_MOTOR_RPM = -7000; /*public static void updateIntakeWheelsRPM() { INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000); }*/ public static final int INTAKE_WHEELS_MOTOR_ID = 50; public static final int INTAKE_ROTATOR_MOTOR_ID = 51; public static class IntakeRotatorPID { public static final double INTAKE_ROTATOR_P = 0.03; public static final double INTAKE_ROTATOR_I = 0; public static final double INTAKE_ROTATOR_D = 0; } public static final double INTAKE_MOTOR_P = 0.0001; public static final double INTAKE_MOTOR_I = 0; public static final double INTAKE_MOTOR_D = 0; public static final double INTAKE_COLLECT_ENCODER_VALUE = 5; public static final double INTAKE_MIDDLE_ENCODER_VALUE = -2.5; public static final double INTAKE_RETRACT_ENCODER_VALUE = 0; } // create object and a new widget under programming tab in Elastic where object // retrieves value from widget 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 final PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Rear Left Camera"); public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Rear Right Camera"); public static final PhotonCamera RED_PHOTON_CAM = new PhotonCamera("Front Left Camera"); public static final PhotonCamera PURPLE_PHOTON_CAM = new PhotonCamera("Front Right Camera"); public static final Pose2d HUB_POSE = new Pose2d(4.625, 4.03, new Rotation2d()); public static final Transform3d ORANGE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0)); public static final Transform3d BLACK_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0)); public static final Transform3d RED_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0)); public static final Transform3d PURPLE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0)); public static final PhotonPoseEstimator ORANGE_PHOTON_ESTIMATOR = new PhotonPoseEstimator( AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark), ORANGE_ROBOT_TO_CAM); public static final PhotonPoseEstimator BLACK_PHOTON_ESTIMATOR = new PhotonPoseEstimator( AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark), BLACK_ROBOT_TO_CAM); public static final PhotonPoseEstimator RED_PHOTON_ESTIMATOR = new PhotonPoseEstimator( AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark), RED_ROBOT_TO_CAM); public static final PhotonPoseEstimator PURPLE_PHOTON_ESTIMATOR = new PhotonPoseEstimator( AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark), PURPLE_ROBOT_TO_CAM); } public static class ClimberConstants { public static final int CLIMB_MOTOR_ID = 60; public static final int RATCHET_PWM_PORT = 9; public static final double RATCHET_UNLOCK_ANGLE = 0; public static final double RATCHET_LOCK_ANGLE = 180; public static final double CLIMBER_SPEED = .5; } }