mirror of
https://github.com/wpilibsuite/allwpilib
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80 lines
2.3 KiB
C
80 lines
2.3 KiB
C
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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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#pragma once
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#include <numbers>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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#include <units/length.h>
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#include <units/time.h>
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#include <units/voltage.h>
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namespace DriveConstants {
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constexpr int kLeftMotor1Port = 0;
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constexpr int kLeftMotor2Port = 1;
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constexpr int kRightMotor1Port = 2;
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constexpr int kRightMotor2Port = 3;
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constexpr int kLeftEncoderPorts[]{0, 1};
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constexpr int kRightEncoderPorts[]{2, 3};
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constexpr bool kLeftEncoderReversed = false;
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constexpr bool kRightEncoderReversed = true;
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constexpr double kEncoderCPR = 1024;
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constexpr units::meter_t kWheelDiameter = 6.0_in;
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constexpr double kEncoderDistancePerPulse =
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// Assumes the encoders are directly mounted on the wheel shafts
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((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
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} // namespace DriveConstants
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namespace IntakeConstants {
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constexpr int kMotorPort = 6;
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constexpr int kSolenoidPorts[]{0, 1};
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} // namespace IntakeConstants
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namespace StorageConstants {
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constexpr int kMotorPort = 7;
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constexpr int kBallSensorPort = 6;
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} // namespace StorageConstants
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namespace ShooterConstants {
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constexpr int kEncoderPorts[]{4, 5};
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constexpr bool kEncoderReversed = false;
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constexpr double kEncoderCPR = 1024;
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constexpr double kEncoderDistancePerPulse =
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// Distance units will be rotations
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1.0 / kEncoderCPR;
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constexpr int kShooterMotorPort = 4;
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constexpr int kFeederMotorPort = 5;
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constexpr auto kShooterFree = 5300_tps;
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constexpr auto kShooterTarget = 4000_tps;
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constexpr auto kShooterTolerance = 50_tps;
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// These are not real PID gains, and will have to be tuned for your specific
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// robot.
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constexpr double kP = 1;
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constexpr units::volt_t kS = 0.05_V;
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constexpr auto kV =
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// Should have value 12V at free speed...
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12.0_V / kShooterFree;
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constexpr double kFeederSpeed = 0.5;
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} // namespace ShooterConstants
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namespace OIConstants {
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constexpr int kDriverControllerPort = 0;
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} // namespace OIConstants
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namespace AutoConstants {
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constexpr units::second_t kTimeout = 3.0_s;
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constexpr units::meter_t kDriveDistance = 2.0_m;
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constexpr double kDriveSpeed = 0.5;
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} // namespace AutoConstants
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