2020-12-26 14:12:05 -08:00
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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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2020-11-13 14:12:03 -05:00
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#include <frc/kinematics/DifferentialDriveKinematics.h>
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#include <frc/system/plant/DCMotor.h>
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#include <frc/system/plant/LinearSystemId.h>
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#include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include <units/time.h>
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#include <units/velocity.h>
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#include <units/voltage.h>
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#include <wpi/math>
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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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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 auto kTrackwidth = 0.69_m;
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extern const frc::DifferentialDriveKinematics kDriveKinematics;
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constexpr int kEncoderCPR = 1024;
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constexpr auto kWheelDiameter = 6_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.to<double>() * wpi::math::pi) /
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static_cast<double>(kEncoderCPR);
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// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
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// These characterization values MUST be determined either experimentally or
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// theoretically for *your* robot's drive. The Robot Characterization
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// Toolsuite provides a convenient tool for obtaining these values for your
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// robot.
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constexpr auto ks = 0.22_V;
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constexpr auto kv = 1.98 * 1_V * 1_s / 1_m;
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constexpr auto ka = 0.2 * 1_V * 1_s * 1_s / 1_m;
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constexpr auto kvAngular = 1.5 * 1_V * 1_s / 1_rad;
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constexpr auto kaAngular = 0.3 * 1_V * 1_s * 1_s / 1_rad;
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extern const frc::LinearSystem<2, 2, 2> kDrivetrainPlant;
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// Example values only -- use what's on your physical robot!
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constexpr auto kDrivetrainGearbox = frc::DCMotor::CIM(2);
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constexpr auto kDrivetrainGearing = 8.0;
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// Example value only - as above, this must be tuned for your drive!
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constexpr double kPDriveVel = 8.5;
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} // namespace DriveConstants
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namespace AutoConstants {
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constexpr auto kMaxSpeed = 3_mps;
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constexpr auto kMaxAcceleration = 3_mps_sq;
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// Reasonable baseline values for a RAMSETE follower in units of meters and
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// seconds
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constexpr double kRamseteB = 2;
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constexpr double kRamseteZeta = 0.7;
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} // namespace AutoConstants
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namespace OIConstants {
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constexpr int kDriverControllerPort = 1;
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} // namespace OIConstants
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