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wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <numbers>
+
+/**
+ * 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 {
+inline constexpr int kLeftMotor1Port = 0;
+inline constexpr int kLeftMotor2Port = 1;
+inline constexpr int kRightMotor1Port = 2;
+inline constexpr int kRightMotor2Port = 3;
+
+inline constexpr int kLeftEncoderPorts[]{0, 1};
+inline constexpr int kRightEncoderPorts[]{2, 3};
+inline constexpr bool kLeftEncoderReversed = false;
+inline constexpr bool kRightEncoderReversed = true;
+
+inline constexpr int kEncoderCPR = 1024;
+inline constexpr double kWheelDiameterInches = 6;
+inline constexpr double kEncoderDistancePerPulse =
+    // Assumes the encoders are directly mounted on the wheel shafts
+    (kWheelDiameterInches * std::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
+}  // namespace DriveConstants
+
+namespace HatchConstants {
+inline constexpr int kHatchSolenoidModule = 0;
+inline constexpr int kHatchSolenoidPorts[]{0, 1};
+}  // namespace HatchConstants
+
+namespace AutoConstants {
+constexpr double kAutoDriveDistanceInches = 60;
+constexpr double kAutoBackupDistanceInches = 20;
+constexpr double kAutoDriveSpeed = 0.5;
+}  // namespace AutoConstants
+
+namespace OIConstants {
+constexpr int kDriverControllerPort = 0;
+}  // namespace OIConstants