allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h

// 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.

#pragma once

#include <units/acceleration.h>
#include <units/length.h>
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/math>

/**
 * The Constants header provides a convenient place for teams to hold robot-wide
 * numerical or bool constants.  This should not be used for any other purpose.
 *
 * It is generally a good idea to place constants into subsystem- or
 * command-specific namespaces within this header, which can then be used where
 * they are needed.
 */

namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;

// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
// theoretically for *your* robot's drive. The RobotPy Characterization
// Toolsuite provides a convenient tool for obtaining these values for your
// robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8_V * 1_s / 1_m;
constexpr auto ka = 0.15_V * 1_s * 1_s / 1_m;

constexpr double kp = 1;

constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;

}  // namespace DriveConstants

namespace OIConstants {
constexpr int kDriverControllerPort = 1;
}  // namespace OIConstants