mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
47 lines
1.7 KiB
C
47 lines
1.7 KiB
C
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <units/units.h>
|
||
|
|
#include <wpi/math>
|
||
|
|
|
||
|
|
/**
|
||
|
|
* The Constants header provides a convenient place for teams to hold robot-wide
|
||
|
|
* numerical or bool constants. This should not be used for any other purpose.
|
||
|
|
*
|
||
|
|
* It is generally a good idea to place constants into subsystem- or
|
||
|
|
* command-specific namespaces within this header, which can then be used where
|
||
|
|
* they are needed.
|
||
|
|
*/
|
||
|
|
|
||
|
|
namespace DriveConstants {
|
||
|
|
constexpr int kLeftMotor1Port = 0;
|
||
|
|
constexpr int kLeftMotor2Port = 1;
|
||
|
|
constexpr int kRightMotor1Port = 2;
|
||
|
|
constexpr int kRightMotor2Port = 3;
|
||
|
|
|
||
|
|
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
|
||
|
|
// These characterization values MUST be determined either experimentally or
|
||
|
|
// theoretically for *your* robot's drive. The RobotPy Characterization
|
||
|
|
// Toolsuite provides a convenient tool for obtaining these values for your
|
||
|
|
// robot.
|
||
|
|
constexpr auto ks = 1_V;
|
||
|
|
constexpr auto kv = 0.8_V * 1_s / 1_m;
|
||
|
|
constexpr auto ka = 0.15_V * 1_s * 1_s / 1_m;
|
||
|
|
|
||
|
|
constexpr double kp = 1;
|
||
|
|
|
||
|
|
constexpr auto kMaxSpeed = 3_mps;
|
||
|
|
constexpr auto kMaxAcceleration = 3_mps_sq;
|
||
|
|
|
||
|
|
} // namespace DriveConstants
|
||
|
|
|
||
|
|
namespace OIConstants {
|
||
|
|
constexpr int kDriverControllerPort = 1;
|
||
|
|
} // namespace OIConstants
|