mirror of
https://github.com/wpilibsuite/allwpilib
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51 lines
1.8 KiB
C
51 lines
1.8 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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/**
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* The Constants header provides a convenient place for teams to hold robot-wide
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* numerical or bool constants. This should not be used for any other purpose.
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*
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* It is generally a good idea to place constants into subsystem- or
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* command-specific namespaces within this header, which can then be used where
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* they are needed.
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*/
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namespace DriveConstants {
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const int kLeftMotor1Port = 0;
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const int kLeftMotor2Port = 1;
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const int kRightMotor1Port = 2;
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const int kRightMotor2Port = 3;
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const int kLeftEncoderPorts[]{0, 1};
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const int kRightEncoderPorts[]{2, 3};
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const bool kLeftEncoderReversed = false;
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const bool kRightEncoderReversed = true;
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const int kEncoderCPR = 1024;
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const double kWheelDiameterInches = 6;
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const double kEncoderDistancePerPulse =
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// Assumes the encoders are directly mounted on the wheel shafts
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(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
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} // namespace DriveConstants
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namespace HatchConstants {
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const int kHatchSolenoidModule = 0;
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const int kHatchSolenoidPorts[]{0, 1};
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} // namespace HatchConstants
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namespace AutoConstants {
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const double kAutoDriveDistanceInches = 60;
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const double kAutoBackupDistanceInches = 20;
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const double kAutoDriveSpeed = .5;
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} // namespace AutoConstants
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namespace OIConstants {
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const int kDriverControllerPort = 1;
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} // namespace OIConstants
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