Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Use constexpr for all example constants

Browse Source 
Also make DifferentialDriveKinematics constructor constexpr.
This commit is contained in:
Peter Johnson
2019-10-27 19:32:56 -07:00
parent 0be6b64756
commit 5509a8e968
7 changed files with 110 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
View File

@@ -19,50 +19,50 @@
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace ShooterConstants {
const int kEncoderPorts[]{4, 5};
const bool kEncoderReversed = false;
const int kEncoderCPR = 1024;
const double kEncoderDistancePerPulse =
constexpr int kEncoderPorts[]{4, 5};
constexpr bool kEncoderReversed = false;
constexpr int kEncoderCPR = 1024;
constexpr double kEncoderDistancePerPulse =
// Distance units will be rotations
1. / static_cast<double>(kEncoderCPR);
const int kShooterMotorPort = 4;
const int kFeederMotorPort = 5;
constexpr int kShooterMotorPort = 4;
constexpr int kFeederMotorPort = 5;
const double kShooterFreeRPS = 5300;
const double kShooterTargetRPS = 4000;
const double kShooterToleranceRPS = 50;
constexpr double kShooterFreeRPS = 5300;
constexpr double kShooterTargetRPS = 4000;
constexpr double kShooterToleranceRPS = 50;
const double kP = 1;
const double kI = 0;
const double kD = 0;
constexpr double kP = 1;
constexpr double kI = 0;
constexpr double kD = 0;
// On a real robot the feedforward constants should be empirically determined;
// these are reasonable guesses.
const double kSFractional = .05;
const double kVFractional =
constexpr double kSFractional = .05;
constexpr double kVFractional =
// Should have value 1 at free speed...
1. / kShooterFreeRPS;
const double kFeederSpeed = .5;
constexpr double kFeederSpeed = .5;
} // namespace ShooterConstants
namespace AutoConstants {
@@ -71,5 +71,5 @@ constexpr auto kAutoShootTimeSeconds = 7_s;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants

48
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
View File

@@ -17,42 +17,42 @@
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
const bool kGyroReversed = true;
constexpr bool kGyroReversed = true;
const double kStabilizationP = 1;
const double kStabilizationI = .5;
const double kStabilizationD = 0;
constexpr double kStabilizationP = 1;
constexpr double kStabilizationI = .5;
constexpr double kStabilizationD = 0;
const double kTurnP = 1;
const double kTurnI = 0;
const double kTurnD = 0;
constexpr double kTurnP = 1;
constexpr double kTurnI = 0;
constexpr double kTurnD = 0;
const double kTurnToleranceDeg = 5;
const double kTurnRateToleranceDegPerS = 10; // degrees per second
constexpr double kTurnToleranceDeg = 5;
constexpr double kTurnRateToleranceDegPerS = 10; // degrees per second
} // namespace DriveConstants
namespace AutoConstants {
const double kAutoDriveDistanceInches = 60;
const double kAutoBackupDistanceInches = 20;
const double kAutoDriveSpeed = .5;
constexpr double kAutoDriveDistanceInches = 60;
constexpr double kAutoBackupDistanceInches = 20;
constexpr double kAutoDriveSpeed = .5;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants

34
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
View File

@@ -17,34 +17,34 @@
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace HatchConstants {
const int kHatchSolenoidModule = 0;
const int kHatchSolenoidPorts[]{0, 1};
constexpr int kHatchSolenoidModule = 0;
constexpr int kHatchSolenoidPorts[]{0, 1};
} // namespace HatchConstants
namespace AutoConstants {
const double kAutoDriveDistanceInches = 60;
const double kAutoBackupDistanceInches = 20;
const double kAutoDriveSpeed = .5;
constexpr double kAutoDriveDistanceInches = 60;
constexpr double kAutoBackupDistanceInches = 20;
constexpr double kAutoDriveSpeed = .5;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants

34
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
View File

@@ -17,34 +17,34 @@
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace HatchConstants {
const int kHatchSolenoidModule = 0;
const int kHatchSolenoidPorts[]{0, 1};
constexpr int kHatchSolenoidModule = 0;
constexpr int kHatchSolenoidPorts[]{0, 1};
} // namespace HatchConstants
namespace AutoConstants {
const double kAutoDriveDistanceInches = 60;
const double kAutoBackupDistanceInches = 20;
const double kAutoDriveSpeed = .5;
constexpr double kAutoDriveDistanceInches = 60;
constexpr double kAutoBackupDistanceInches = 20;
constexpr double kAutoDriveSpeed = .5;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants

46
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
View File

@@ -22,50 +22,50 @@
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
const auto kTrackwidth = .6_m;
const frc::DifferentialDriveKinematics kDriveKinematics(kTrackwidth);
constexpr auto kTrackwidth = .6_m;
constexpr frc::DifferentialDriveKinematics kDriveKinematics(kTrackwidth);
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
const bool kGyroReversed = true;
constexpr bool kGyroReversed = true;
// 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.
const auto ks = 1_V;
const auto kv = .8 * 1_V * 1_s / 1_m;
const auto ka = .15 * 1_V * 1_s * 1_s / 1_m;
constexpr auto ks = 1_V;
constexpr auto kv = .8 * 1_V * 1_s / 1_m;
constexpr auto ka = .15 * 1_V * 1_s * 1_s / 1_m;
// Example value only - as above, this must be tuned for your drive!
const double kPDriveVel = .5;
constexpr double kPDriveVel = .5;
} // namespace DriveConstants
namespace AutoConstants {
const auto kMaxSpeed = 3_mps;
const auto kMaxAcceleration = 3_mps_sq;
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
// Reasonable baseline values for a RAMSETE follower in units of meters and
// seconds
const double kRamseteB = 2;
const double kRamseteZeta = .7;
constexpr double kRamseteB = 2;
constexpr double kRamseteZeta = .7;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants

2
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Constants.h
View File

@@ -18,5 +18,5 @@
*/
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants

2
wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Constants.h
View File

@@ -18,5 +18,5 @@
*/
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants