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https://github.com/wpilibsuite/allwpilib
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39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import math
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import wpimath.units
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kMotorPort = 0
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kEncoderAChannel = 0
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kEncoderBChannel = 1
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kJoystickPort = 0
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kElevatorKp = 0.75
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kElevatorKi = 0.0
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kElevatorKd = 0.0
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kElevatorMaxV = 10.0 # volts (V)
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kElevatorkS = 0.0 # volts (V)
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kElevatorkG = 0.62 # volts (V)
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kElevatorkV = 3.9 # volts (V)
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kElevatorkA = 0.06 # volts (V)
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kElevatorGearing = 5.0
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kElevatorDrumRadius = wpimath.units.inchesToMeters(1.0)
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kCarriageMass = wpimath.units.lbsToKilograms(12) # kg
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kSetpoint = wpimath.units.inchesToMeters(42.875)
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kLowerkSetpoint = wpimath.units.inchesToMeters(15)
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# Encoder is reset to measure 0 at the bottom, so minimum height is 0.
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kMinElevatorHeight = 0.0 # m
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kMaxElevatorHeight = wpimath.units.inchesToMeters(50)
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# distance per pulse = (distance per revolution) / (pulses per revolution)
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# = (Pi * D) / ppr
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kElevatorEncoderDistPerPulse = 2.0 * math.pi * kElevatorDrumRadius / 4096
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