mirror of
https://github.com/wpilibsuite/allwpilib
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72 lines
2.5 KiB
C
72 lines
2.5 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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#pragma once
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#include <units/units.h>
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#include <wpi/math>
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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 int kEncoderCPR = 1024;
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constexpr double kWheelDiameterInches = 6;
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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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(kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
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} // namespace DriveConstants
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namespace ArmConstants {
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constexpr int kMotorPort = 4;
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constexpr double kP = 1;
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// These are fake gains; in actuality these must be determined individually for
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// each robot
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constexpr auto kS = 1_V;
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constexpr auto kCos = 1_V;
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constexpr auto kV = 0.5_V * 1_s / 1_rad;
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constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
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constexpr auto kMaxVelocity = 3_rad_per_s;
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constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
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constexpr int kEncoderPorts[]{4, 5};
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constexpr int kEncoderPPR = 256;
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constexpr auto kEncoderDistancePerPulse = 2.0_rad * wpi::math::pi / kEncoderPPR;
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// The offset of the arm from the horizontal in its neutral position,
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// measured from the horizontal
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constexpr auto kArmOffset = 0.5_rad;
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} // namespace ArmConstants
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namespace AutoConstants {
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constexpr auto kAutoTimeoutSeconds = 12_s;
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constexpr auto kAutoShootTimeSeconds = 7_s;
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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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