mirror of
https://github.com/wpilibsuite/allwpilib
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94 lines
3.6 KiB
C
94 lines
3.6 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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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/MecanumDriveKinematics.h>
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#include <frc/trajectory/TrapezoidProfile.h>
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#include <units/units.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 kFrontLeftMotorPort = 0;
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constexpr int kRearLeftMotorPort = 1;
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constexpr int kFrontRightMotorPort = 2;
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constexpr int kRearRightMotorPort = 3;
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constexpr int kFrontLeftEncoderPorts[]{0, 1};
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constexpr int kRearLeftEncoderPorts[]{2, 3};
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constexpr int kFrontRightEncoderPorts[]{4, 5};
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constexpr int kRearRightEncoderPorts[]{5, 6};
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constexpr bool kFrontLeftEncoderReversed = false;
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constexpr bool kRearLeftEncoderReversed = true;
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constexpr bool kFrontRightEncoderReversed = false;
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constexpr bool kRearRightEncoderReversed = true;
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constexpr auto kTrackWidth =
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0.5_m; // Distance between centers of right and left wheels on robot
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constexpr auto kWheelBase =
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0.7_m; // Distance between centers of front and back wheels on robot
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extern const frc::MecanumDriveKinematics kDriveKinematics;
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constexpr int kEncoderCPR = 1024;
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constexpr double kWheelDiameterMeters = .15;
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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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(kWheelDiameterMeters * wpi::math::pi) / static_cast<double>(kEncoderCPR);
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constexpr bool kGyroReversed = false;
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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 RobotPy 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 = 1_V;
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constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
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constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
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// Example value only - as above, this must be tuned for your drive!
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constexpr double kPFrontLeftVel = 0.5;
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constexpr double kPRearLeftVel = 0.5;
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constexpr double kPFrontRightVel = 0.5;
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constexpr double kPRearRightVel = 0.5;
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} // namespace DriveConstants
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namespace AutoConstants {
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using radians_per_second_squared_t =
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units::compound_unit<units::radians,
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units::inverse<units::squared<units::second>>>;
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constexpr auto kMaxSpeed = units::meters_per_second_t(3);
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constexpr auto kMaxAcceleration = units::meters_per_second_squared_t(3);
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constexpr auto kMaxAngularSpeed = units::radians_per_second_t(3);
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constexpr auto kMaxAngularAcceleration =
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units::unit_t<radians_per_second_squared_t>(3);
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constexpr double kPXController = 0.5;
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constexpr double kPYController = 0.5;
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constexpr double kPThetaController = 0.5;
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constexpr frc::TrapezoidProfile<units::radians>::Constraints
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kThetaControllerConstraints{kMaxAngularSpeed, kMaxAngularAcceleration};
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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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