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[wpilibcExamples] Add inline specifier to constexpr constants (#6049)

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This commit is contained in:
ncorrea210
2023-12-14 23:52:02 -05:00
committed by GitHub
parent 85c9ae6eff
commit 8798700cec
20 changed files with 362 additions and 362 deletions
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52
wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
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@@ -21,54 +21,54 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
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 ArmConstants {
constexpr int kMotorPort = 4;
inline constexpr int kMotorPort = 4;
constexpr double kP = 1;
inline constexpr double kP = 1;
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
inline constexpr auto kS = 1_V;
inline constexpr auto kG = 1_V;
inline constexpr auto kV = 0.5_V * 1_s / 1_rad;
inline constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
constexpr auto kMaxVelocity = 3_rad_per_s;
constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
inline constexpr auto kMaxVelocity = 3_rad_per_s;
inline constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
constexpr int kEncoderPorts[]{4, 5};
constexpr int kEncoderPPR = 256;
constexpr auto kEncoderDistancePerPulse =
inline constexpr int kEncoderPorts[]{4, 5};
inline constexpr int kEncoderPPR = 256;
inline constexpr auto kEncoderDistancePerPulse =
2.0_rad * std::numbers::pi / kEncoderPPR;
// The offset of the arm from the horizontal in its neutral position,
// measured from the horizontal
constexpr auto kArmOffset = 0.5_rad;
inline constexpr auto kArmOffset = 0.5_rad;
} // namespace ArmConstants
namespace AutoConstants {
constexpr auto kAutoTimeoutSeconds = 12_s;
constexpr auto kAutoShootTimeSeconds = 7_s;
inline constexpr auto kAutoTimeoutSeconds = 12_s;
inline constexpr auto kAutoShootTimeSeconds = 7_s;
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

50
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
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@@ -21,52 +21,52 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
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 ArmConstants {
constexpr int kMotorPort = 4;
inline constexpr int kMotorPort = 4;
constexpr double kP = 1;
inline constexpr double kP = 1;
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
inline constexpr auto kS = 1_V;
inline constexpr auto kG = 1_V;
inline constexpr auto kV = 0.5_V * 1_s / 1_rad;
inline constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
constexpr auto kMaxVelocity = 3_rad_per_s;
constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
inline constexpr auto kMaxVelocity = 3_rad_per_s;
inline constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
constexpr int kEncoderPorts[]{4, 5};
constexpr int kEncoderPPR = 256;
constexpr auto kEncoderDistancePerPulse =
inline constexpr int kEncoderPorts[]{4, 5};
inline constexpr int kEncoderPPR = 256;
inline constexpr auto kEncoderDistancePerPulse =
2.0_rad * std::numbers::pi / kEncoderPPR;
// The offset of the arm from the horizontal in its neutral position,
// measured from the horizontal
constexpr auto kArmOffset = 0.5_rad;
inline constexpr auto kArmOffset = 0.5_rad;
} // namespace ArmConstants
namespace AutoConstants {
constexpr auto kAutoTimeoutSeconds = 12_s;
constexpr auto kAutoShootTimeSeconds = 7_s;
inline constexpr auto kAutoTimeoutSeconds = 12_s;
inline constexpr auto kAutoShootTimeSeconds = 7_s;
} // namespace AutoConstants
namespace OIConstants {

28
wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
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@@ -22,25 +22,25 @@
* they are needed.
*/
static constexpr int kMotorPort = 0;
static constexpr int kEncoderAChannel = 0;
static constexpr int kEncoderBChannel = 1;
static constexpr int kJoystickPort = 0;
inline constexpr int kMotorPort = 0;
inline constexpr int kEncoderAChannel = 0;
inline constexpr int kEncoderBChannel = 1;
inline constexpr int kJoystickPort = 0;
static constexpr std::string_view kArmPositionKey = "ArmPosition";
static constexpr std::string_view kArmPKey = "ArmP";
inline constexpr std::string_view kArmPositionKey = "ArmPosition";
inline constexpr std::string_view kArmPKey = "ArmP";
static constexpr double kDefaultArmKp = 50.0;
static constexpr units::degree_t kDefaultArmSetpoint = 75.0_deg;
inline constexpr double kDefaultArmKp = 50.0;
inline constexpr units::degree_t kDefaultArmSetpoint = 75.0_deg;
static constexpr units::radian_t kMinAngle = -75.0_deg;
static constexpr units::radian_t kMaxAngle = 255.0_deg;
inline constexpr units::radian_t kMinAngle = -75.0_deg;
inline constexpr units::radian_t kMaxAngle = 255.0_deg;
static constexpr double kArmReduction = 200.0;
static constexpr units::kilogram_t kArmMass = 8.0_kg;
static constexpr units::meter_t kArmLength = 30.0_in;
inline constexpr double kArmReduction = 200.0;
inline constexpr units::kilogram_t kArmMass = 8.0_kg;
inline constexpr units::meter_t kArmLength = 30.0_in;
// distance per pulse = (angle per revolution) / (pulses per revolution)
// = (2 * PI rads) / (4096 pulses)
static constexpr double kArmEncoderDistPerPulse =
inline constexpr double kArmEncoderDistPerPulse =
2.0 * std::numbers::pi / 4096.0;

22
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
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@@ -22,26 +22,26 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline 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 SysId tool provides a convenient
// method 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;
inline constexpr auto ks = 1_V;
inline constexpr auto kv = 0.8_V * 1_s / 1_m;
inline constexpr auto ka = 0.15_V * 1_s * 1_s / 1_m;
constexpr double kp = 1;
inline constexpr double kp = 1;
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
inline constexpr auto kMaxSpeed = 3_mps;
inline constexpr auto kMaxAcceleration = 3_mps_sq;
} // namespace DriveConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

40
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.h
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@@ -25,33 +25,33 @@
namespace Constants {
static constexpr int kMotorPort = 0;
static constexpr int kEncoderAChannel = 0;
static constexpr int kEncoderBChannel = 1;
static constexpr int kJoystickPort = 0;
inline constexpr int kMotorPort = 0;
inline constexpr int kEncoderAChannel = 0;
inline constexpr int kEncoderBChannel = 1;
inline constexpr int kJoystickPort = 0;
static constexpr double kElevatorKp = 0.75;
static constexpr double kElevatorKi = 0.0;
static constexpr double kElevatorKd = 0.0;
inline constexpr double kElevatorKp = 0.75;
inline constexpr double kElevatorKi = 0.0;
inline constexpr double kElevatorKd = 0.0;
static constexpr units::volt_t kElevatorMaxV = 10_V;
static constexpr units::volt_t kElevatorkS = 0.0_V;
static constexpr units::volt_t kElevatorkG = 0.62_V;
static constexpr auto kElevatorkV = 3.9_V / 1_mps;
static constexpr auto kElevatorkA = 0.06_V / 1_mps_sq;
inline constexpr units::volt_t kElevatorMaxV = 10_V;
inline constexpr units::volt_t kElevatorkS = 0.0_V;
inline constexpr units::volt_t kElevatorkG = 0.62_V;
inline constexpr auto kElevatorkV = 3.9_V / 1_mps;
inline constexpr auto kElevatorkA = 0.06_V / 1_mps_sq;
static constexpr double kElevatorGearing = 5.0;
static constexpr units::meter_t kElevatorDrumRadius = 1_in;
static constexpr units::kilogram_t kCarriageMass = 12_lb;
inline constexpr double kElevatorGearing = 5.0;
inline constexpr units::meter_t kElevatorDrumRadius = 1_in;
inline constexpr units::kilogram_t kCarriageMass = 12_lb;
static constexpr units::meter_t kSetpoint = 42.875_in;
static constexpr units::meter_t kLowerSetpoint = 15_in;
static constexpr units::meter_t kMinElevatorHeight = 0_cm;
static constexpr units::meter_t kMaxElevatorHeight = 50_in;
inline constexpr units::meter_t kSetpoint = 42.875_in;
inline constexpr units::meter_t kLowerSetpoint = 15_in;
inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
inline constexpr units::meter_t kMaxElevatorHeight = 50_in;
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr
static constexpr double kArmEncoderDistPerPulse =
inline constexpr double kArmEncoderDistPerPulse =
2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
} // namespace Constants

36
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.h
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@@ -25,31 +25,31 @@
namespace Constants {
static constexpr int kMotorPort = 0;
static constexpr int kEncoderAChannel = 0;
static constexpr int kEncoderBChannel = 1;
static constexpr int kJoystickPort = 0;
inline constexpr int kMotorPort = 0;
inline constexpr int kEncoderAChannel = 0;
inline constexpr int kEncoderBChannel = 1;
inline constexpr int kJoystickPort = 0;
static constexpr double kElevatorKp = 5.0;
static constexpr double kElevatorKi = 0.0;
static constexpr double kElevatorKd = 0.0;
inline constexpr double kElevatorKp = 5.0;
inline constexpr double kElevatorKi = 0.0;
inline constexpr double kElevatorKd = 0.0;
static constexpr units::volt_t kElevatorkS = 0.0_V;
static constexpr units::volt_t kElevatorkG = 0.762_V;
static constexpr auto kElevatorkV = 0.762_V / 1_mps;
static constexpr auto kElevatorkA = 0.0_V / 1_mps_sq;
inline constexpr units::volt_t kElevatorkS = 0.0_V;
inline constexpr units::volt_t kElevatorkG = 0.762_V;
inline constexpr auto kElevatorkV = 0.762_V / 1_mps;
inline constexpr auto kElevatorkA = 0.0_V / 1_mps_sq;
static constexpr double kElevatorGearing = 10.0;
static constexpr units::meter_t kElevatorDrumRadius = 2_in;
static constexpr units::kilogram_t kCarriageMass = 4.0_kg;
inline constexpr double kElevatorGearing = 10.0;
inline constexpr units::meter_t kElevatorDrumRadius = 2_in;
inline constexpr units::kilogram_t kCarriageMass = 4.0_kg;
static constexpr units::meter_t kSetpoint = 75_cm;
static constexpr units::meter_t kMinElevatorHeight = 0_cm;
static constexpr units::meter_t kMaxElevatorHeight = 1.25_m;
inline constexpr units::meter_t kSetpoint = 75_cm;
inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
inline constexpr units::meter_t kMaxElevatorHeight = 1.25_m;
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr
static constexpr double kArmEncoderDistPerPulse =
inline constexpr double kArmEncoderDistPerPulse =
2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
} // namespace Constants

56
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
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@@ -20,56 +20,56 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
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 ShooterConstants {
constexpr int kEncoderPorts[]{4, 5};
constexpr bool kEncoderReversed = false;
constexpr int kEncoderCPR = 1024;
constexpr double kEncoderDistancePerPulse =
inline constexpr int kEncoderPorts[]{4, 5};
inline constexpr bool kEncoderReversed = false;
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kEncoderDistancePerPulse =
// Distance units will be rotations
1.0 / static_cast<double>(kEncoderCPR);
constexpr int kShooterMotorPort = 4;
constexpr int kFeederMotorPort = 5;
inline constexpr int kShooterMotorPort = 4;
inline constexpr int kFeederMotorPort = 5;
constexpr auto kShooterFreeRPS = 5300_tr / 1_s;
constexpr auto kShooterTargetRPS = 4000_tr / 1_s;
constexpr auto kShooterToleranceRPS = 50_tr / 1_s;
inline constexpr auto kShooterFreeRPS = 5300_tr / 1_s;
inline constexpr auto kShooterTargetRPS = 4000_tr / 1_s;
inline constexpr auto kShooterToleranceRPS = 50_tr / 1_s;
constexpr double kP = 1;
constexpr double kI = 0;
constexpr double kD = 0;
inline constexpr double kP = 1;
inline constexpr double kI = 0;
inline constexpr double kD = 0;
// On a real robot the feedforward constants should be empirically determined;
// these are reasonable guesses.
constexpr auto kS = 0.05_V;
constexpr auto kV =
inline constexpr auto kS = 0.05_V;
inline constexpr auto kV =
// Should have value 12V at free speed...
12_V / kShooterFreeRPS;
constexpr double kFeederSpeed = 0.5;
inline constexpr double kFeederSpeed = 0.5;
} // namespace ShooterConstants
namespace AutoConstants {
constexpr auto kAutoTimeoutSeconds = 12_s;
constexpr auto kAutoShootTimeSeconds = 7_s;
inline constexpr auto kAutoTimeoutSeconds = 12_s;
inline constexpr auto kAutoShootTimeSeconds = 7_s;
} // namespace AutoConstants
namespace OIConstants {

52
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
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@@ -19,46 +19,46 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
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);
constexpr bool kGyroReversed = true;
inline constexpr bool kGyroReversed = true;
constexpr double kStabilizationP = 1;
constexpr double kStabilizationI = 0.5;
constexpr double kStabilizationD = 0;
inline constexpr double kStabilizationP = 1;
inline constexpr double kStabilizationI = 0.5;
inline constexpr double kStabilizationD = 0;
constexpr double kTurnP = 1;
constexpr double kTurnI = 0;
constexpr double kTurnD = 0;
inline constexpr double kTurnP = 1;
inline constexpr double kTurnI = 0;
inline constexpr double kTurnD = 0;
constexpr auto kTurnTolerance = 5_deg;
constexpr auto kTurnRateTolerance = 10_deg_per_s;
inline constexpr auto kTurnTolerance = 5_deg;
inline constexpr auto kTurnRateTolerance = 10_deg_per_s;
constexpr auto kMaxTurnRate = 100_deg_per_s;
constexpr auto kMaxTurnAcceleration = 300_deg_per_s / 1_s;
inline constexpr auto kMaxTurnRate = 100_deg_per_s;
inline constexpr auto kMaxTurnAcceleration = 300_deg_per_s / 1_s;
} // namespace DriveConstants
namespace AutoConstants {
constexpr double kAutoDriveDistanceInches = 60;
constexpr double kAutoBackupDistanceInches = 20;
constexpr double kAutoDriveSpeed = 0.5;
inline constexpr double kAutoDriveDistanceInches = 60;
inline constexpr double kAutoBackupDistanceInches = 20;
inline constexpr double kAutoDriveSpeed = 0.5;
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

34
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
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@@ -16,35 +16,35 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
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 {
constexpr int kHatchSolenoidModule = 0;
constexpr int kHatchSolenoidPorts[]{0, 1};
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;
inline constexpr double kAutoDriveDistanceInches = 60;
inline constexpr double kAutoBackupDistanceInches = 20;
inline constexpr double kAutoDriveSpeed = 0.5;
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

26
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
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@@ -16,27 +16,27 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
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 {
constexpr int kHatchSolenoidModule = 0;
constexpr int kHatchSolenoidPorts[]{0, 1};
inline constexpr int kHatchSolenoidModule = 0;
inline constexpr int kHatchSolenoidPorts[]{0, 1};
} // namespace HatchConstants
namespace AutoConstants {

64
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
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@@ -28,30 +28,30 @@
*/
namespace DriveConstants {
constexpr int kFrontLeftMotorPort = 0;
constexpr int kRearLeftMotorPort = 1;
constexpr int kFrontRightMotorPort = 2;
constexpr int kRearRightMotorPort = 3;
inline constexpr int kFrontLeftMotorPort = 0;
inline constexpr int kRearLeftMotorPort = 1;
inline constexpr int kFrontRightMotorPort = 2;
inline constexpr int kRearRightMotorPort = 3;
constexpr int kFrontLeftEncoderPorts[]{0, 1};
constexpr int kRearLeftEncoderPorts[]{2, 3};
constexpr int kFrontRightEncoderPorts[]{4, 5};
constexpr int kRearRightEncoderPorts[]{6, 7};
inline constexpr int kFrontLeftEncoderPorts[]{0, 1};
inline constexpr int kRearLeftEncoderPorts[]{2, 3};
inline constexpr int kFrontRightEncoderPorts[]{4, 5};
inline constexpr int kRearRightEncoderPorts[]{6, 7};
constexpr bool kFrontLeftEncoderReversed = false;
constexpr bool kRearLeftEncoderReversed = true;
constexpr bool kFrontRightEncoderReversed = false;
constexpr bool kRearRightEncoderReversed = true;
inline constexpr bool kFrontLeftEncoderReversed = false;
inline constexpr bool kRearLeftEncoderReversed = true;
inline constexpr bool kFrontRightEncoderReversed = false;
inline constexpr bool kRearRightEncoderReversed = true;
constexpr auto kTrackWidth =
inline constexpr auto kTrackWidth =
0.5_m; // Distance between centers of right and left wheels on robot
constexpr auto kWheelBase =
inline constexpr auto kWheelBase =
0.7_m; // Distance between centers of front and back wheels on robot
extern const frc::MecanumDriveKinematics kDriveKinematics;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterMeters = 0.15;
constexpr double kEncoderDistancePerPulse =
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterMeters = 0.15;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
@@ -60,26 +60,26 @@ constexpr double kEncoderDistancePerPulse =
// These characterization values MUST be determined either experimentally or
// theoretically for *your* robot's drive. The SysId tool provides a convenient
// method for obtaining these values for your robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
inline constexpr auto ks = 1_V;
inline constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
inline constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
// Example value only - as above, this must be tuned for your drive!
constexpr double kPFrontLeftVel = 0.5;
constexpr double kPRearLeftVel = 0.5;
constexpr double kPFrontRightVel = 0.5;
constexpr double kPRearRightVel = 0.5;
inline constexpr double kPFrontLeftVel = 0.5;
inline constexpr double kPRearLeftVel = 0.5;
inline constexpr double kPFrontRightVel = 0.5;
inline constexpr double kPRearRightVel = 0.5;
} // namespace DriveConstants
namespace AutoConstants {
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
constexpr auto kMaxAngularSpeed = 3_rad_per_s;
constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
inline constexpr auto kMaxSpeed = 3_mps;
inline constexpr auto kMaxAcceleration = 3_mps_sq;
inline constexpr auto kMaxAngularSpeed = 3_rad_per_s;
inline constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
constexpr double kPXController = 0.5;
constexpr double kPYController = 0.5;
constexpr double kPThetaController = 0.5;
inline constexpr double kPXController = 0.5;
inline constexpr double kPYController = 0.5;
inline constexpr double kPThetaController = 0.5;
extern const frc::TrapezoidProfile<units::radians>::Constraints
kThetaControllerConstraints;
@@ -87,5 +87,5 @@ extern const frc::TrapezoidProfile<units::radians>::Constraints
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

42
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
View File

@@ -25,22 +25,22 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr auto kTrackwidth = 0.69_m;
inline constexpr auto kTrackwidth = 0.69_m;
extern const frc::DifferentialDriveKinematics kDriveKinematics;
constexpr int kEncoderCPR = 1024;
constexpr units::meter_t kWheelDiameter = 6_in;
constexpr auto kEncoderDistancePerPulse =
inline constexpr int kEncoderCPR = 1024;
inline constexpr units::meter_t kWheelDiameter = 6_in;
inline constexpr auto kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameter * std::numbers::pi) / static_cast<double>(kEncoderCPR);
@@ -49,24 +49,24 @@ constexpr auto kEncoderDistancePerPulse =
// theoretically for *your* robot's drive. The Robot Characterization
// Toolsuite provides a convenient tool for obtaining these values for your
// robot.
constexpr auto ks = 0.22_V;
constexpr auto kv = 1.98 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.2 * 1_V * 1_s * 1_s / 1_m;
inline constexpr auto ks = 0.22_V;
inline constexpr auto kv = 1.98 * 1_V * 1_s / 1_m;
inline constexpr auto ka = 0.2 * 1_V * 1_s * 1_s / 1_m;
// Example value only - as above, this must be tuned for your drive!
constexpr double kPDriveVel = 8.5;
inline constexpr double kPDriveVel = 8.5;
} // namespace DriveConstants
namespace AutoConstants {
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 1_mps_sq;
inline constexpr auto kMaxSpeed = 3_mps;
inline constexpr auto kMaxAcceleration = 1_mps_sq;
// Reasonable baseline values for a RAMSETE follower in units of meters and
// seconds
constexpr auto kRamseteB = 2.0 * 1_rad * 1_rad / (1_m * 1_m);
constexpr auto kRamseteZeta = 0.7 / 1_rad;
inline constexpr auto kRamseteB = 2.0 * 1_rad * 1_rad / (1_m * 1_m);
inline constexpr auto kRamseteZeta = 0.7 / 1_rad;
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

58
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
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@@ -13,63 +13,63 @@
#include <units/voltage.h>
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr double kEncoderCPR = 1024;
constexpr units::meter_t kWheelDiameter = 6.0_in;
constexpr double kEncoderDistancePerPulse =
inline constexpr double kEncoderCPR = 1024;
inline constexpr units::meter_t kWheelDiameter = 6.0_in;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
} // namespace DriveConstants
namespace IntakeConstants {
constexpr int kMotorPort = 6;
constexpr int kSolenoidPorts[]{0, 1};
inline constexpr int kMotorPort = 6;
inline constexpr int kSolenoidPorts[]{0, 1};
} // namespace IntakeConstants
namespace StorageConstants {
constexpr int kMotorPort = 7;
constexpr int kBallSensorPort = 6;
inline constexpr int kMotorPort = 7;
inline constexpr int kBallSensorPort = 6;
} // namespace StorageConstants
namespace ShooterConstants {
constexpr int kEncoderPorts[]{4, 5};
constexpr bool kEncoderReversed = false;
constexpr double kEncoderCPR = 1024;
constexpr double kEncoderDistancePerPulse =
inline constexpr int kEncoderPorts[]{4, 5};
inline constexpr bool kEncoderReversed = false;
inline constexpr double kEncoderCPR = 1024;
inline constexpr double kEncoderDistancePerPulse =
// Distance units will be rotations
1.0 / kEncoderCPR;
constexpr int kShooterMotorPort = 4;
constexpr int kFeederMotorPort = 5;
inline constexpr int kShooterMotorPort = 4;
inline constexpr int kFeederMotorPort = 5;
constexpr auto kShooterFree = 5300_tps;
constexpr auto kShooterTarget = 4000_tps;
constexpr auto kShooterTolerance = 50_tps;
inline constexpr auto kShooterFree = 5300_tps;
inline constexpr auto kShooterTarget = 4000_tps;
inline constexpr auto kShooterTolerance = 50_tps;
// These are not real PID gains, and will have to be tuned for your specific
// robot.
constexpr double kP = 1;
inline constexpr double kP = 1;
constexpr units::volt_t kS = 0.05_V;
constexpr auto kV =
inline constexpr units::volt_t kS = 0.05_V;
inline constexpr auto kV =
// Should have value 12V at free speed...
12.0_V / kShooterFree;
constexpr double kFeederSpeed = 0.5;
inline constexpr double kFeederSpeed = 0.5;
} // namespace ShooterConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants
namespace AutoConstants {

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/Constants.h
View File

@@ -14,6 +14,6 @@
*/
namespace DriveConstants {
constexpr double kCountsPerRevolution = 1440.0;
constexpr double kWheelDiameterInch = 2.75;
inline constexpr double kCountsPerRevolution = 1440.0;
inline constexpr double kWheelDiameterInch = 2.75;
} // namespace DriveConstants

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

@@ -15,5 +15,5 @@
*/
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

50
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
View File

@@ -27,22 +27,22 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr auto kTrackwidth = 0.69_m;
inline constexpr auto kTrackwidth = 0.69_m;
extern const frc::DifferentialDriveKinematics kDriveKinematics;
constexpr int kEncoderCPR = 1024;
constexpr auto kWheelDiameter = 6_in;
constexpr double kEncoderDistancePerPulse =
inline constexpr int kEncoderCPR = 1024;
inline constexpr auto kWheelDiameter = 6_in;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameter.value() * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
@@ -52,33 +52,33 @@ constexpr double kEncoderDistancePerPulse =
// theoretically for *your* robot's drive. The Robot Characterization
// Toolsuite provides a convenient tool for obtaining these values for your
// robot.
constexpr auto ks = 0.22_V;
constexpr auto kv = 1.98 * 1_V / 1_mps;
constexpr auto ka = 0.2 * 1_V / 1_mps_sq;
inline constexpr auto ks = 0.22_V;
inline constexpr auto kv = 1.98 * 1_V / 1_mps;
inline constexpr auto ka = 0.2 * 1_V / 1_mps_sq;
constexpr auto kvAngular = 1.5 * 1_V / 1_mps;
constexpr auto kaAngular = 0.3 * 1_V / 1_mps_sq;
inline constexpr auto kvAngular = 1.5 * 1_V / 1_mps;
inline constexpr auto kaAngular = 0.3 * 1_V / 1_mps_sq;
extern const frc::LinearSystem<2, 2, 2> kDrivetrainPlant;
// Example values only -- use what's on your physical robot!
constexpr auto kDrivetrainGearbox = frc::DCMotor::CIM(2);
constexpr auto kDrivetrainGearing = 8.0;
inline constexpr auto kDrivetrainGearbox = frc::DCMotor::CIM(2);
inline constexpr auto kDrivetrainGearing = 8.0;
// Example value only - as above, this must be tuned for your drive!
constexpr double kPDriveVel = 8.5;
inline constexpr double kPDriveVel = 8.5;
} // namespace DriveConstants
namespace AutoConstants {
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
inline constexpr auto kMaxSpeed = 3_mps;
inline constexpr auto kMaxAcceleration = 3_mps_sq;
// Reasonable baseline values for a RAMSETE follower in units of meters and
// seconds
constexpr auto kRamseteB = 2 * 1_rad * 1_rad / (1_m * 1_m);
constexpr auto kRamseteZeta = 0.7 / 1_rad;
inline constexpr auto kRamseteB = 2 * 1_rad * 1_rad / (1_m * 1_m);
inline constexpr auto kRamseteZeta = 0.7 / 1_rad;
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

92
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
View File

@@ -29,80 +29,80 @@
*/
namespace DriveConstants {
constexpr int kFrontLeftDriveMotorPort = 0;
constexpr int kRearLeftDriveMotorPort = 2;
constexpr int kFrontRightDriveMotorPort = 4;
constexpr int kRearRightDriveMotorPort = 6;
inline constexpr int kFrontLeftDriveMotorPort = 0;
inline constexpr int kRearLeftDriveMotorPort = 2;
inline constexpr int kFrontRightDriveMotorPort = 4;
inline constexpr int kRearRightDriveMotorPort = 6;
constexpr int kFrontLeftTurningMotorPort = 1;
constexpr int kRearLeftTurningMotorPort = 3;
constexpr int kFrontRightTurningMotorPort = 5;
constexpr int kRearRightTurningMotorPort = 7;
inline constexpr int kFrontLeftTurningMotorPort = 1;
inline constexpr int kRearLeftTurningMotorPort = 3;
inline constexpr int kFrontRightTurningMotorPort = 5;
inline constexpr int kRearRightTurningMotorPort = 7;
constexpr int kFrontLeftTurningEncoderPorts[2]{0, 1};
constexpr int kRearLeftTurningEncoderPorts[2]{2, 3};
constexpr int kFrontRightTurningEncoderPorts[2]{4, 5};
constexpr int kRearRightTurningEncoderPorts[2]{6, 7};
inline constexpr int kFrontLeftTurningEncoderPorts[2]{0, 1};
inline constexpr int kRearLeftTurningEncoderPorts[2]{2, 3};
inline constexpr int kFrontRightTurningEncoderPorts[2]{4, 5};
inline constexpr int kRearRightTurningEncoderPorts[2]{6, 7};
constexpr bool kFrontLeftTurningEncoderReversed = false;
constexpr bool kRearLeftTurningEncoderReversed = true;
constexpr bool kFrontRightTurningEncoderReversed = false;
constexpr bool kRearRightTurningEncoderReversed = true;
inline constexpr bool kFrontLeftTurningEncoderReversed = false;
inline constexpr bool kRearLeftTurningEncoderReversed = true;
inline constexpr bool kFrontRightTurningEncoderReversed = false;
inline constexpr bool kRearRightTurningEncoderReversed = true;
constexpr int kFrontLeftDriveEncoderPorts[2]{8, 9};
constexpr int kRearLeftDriveEncoderPorts[2]{10, 11};
constexpr int kFrontRightDriveEncoderPorts[2]{12, 13};
constexpr int kRearRightDriveEncoderPorts[2]{14, 15};
inline constexpr int kFrontLeftDriveEncoderPorts[2]{8, 9};
inline constexpr int kRearLeftDriveEncoderPorts[2]{10, 11};
inline constexpr int kFrontRightDriveEncoderPorts[2]{12, 13};
inline constexpr int kRearRightDriveEncoderPorts[2]{14, 15};
constexpr bool kFrontLeftDriveEncoderReversed = false;
constexpr bool kRearLeftDriveEncoderReversed = true;
constexpr bool kFrontRightDriveEncoderReversed = false;
constexpr bool kRearRightDriveEncoderReversed = true;
inline constexpr bool kFrontLeftDriveEncoderReversed = false;
inline constexpr bool kRearLeftDriveEncoderReversed = true;
inline constexpr bool kFrontRightDriveEncoderReversed = false;
inline constexpr bool kRearRightDriveEncoderReversed = true;
// If you call DriveSubsystem::Drive with a different period make sure to update
// this.
constexpr units::second_t kDrivePeriod = frc::TimedRobot::kDefaultPeriod;
inline constexpr units::second_t kDrivePeriod = frc::TimedRobot::kDefaultPeriod;
// 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 SysId tool provides a convenient
// method for obtaining these values for your robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
inline constexpr auto ks = 1_V;
inline constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
inline constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
// Example value only - as above, this must be tuned for your drive!
constexpr double kPFrontLeftVel = 0.5;
constexpr double kPRearLeftVel = 0.5;
constexpr double kPFrontRightVel = 0.5;
constexpr double kPRearRightVel = 0.5;
inline constexpr double kPFrontLeftVel = 0.5;
inline constexpr double kPRearLeftVel = 0.5;
inline constexpr double kPFrontRightVel = 0.5;
inline constexpr double kPRearRightVel = 0.5;
} // namespace DriveConstants
namespace ModuleConstants {
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterMeters = 0.15;
constexpr double kDriveEncoderDistancePerPulse =
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterMeters = 0.15;
inline constexpr double kDriveEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
constexpr double kTurningEncoderDistancePerPulse =
inline constexpr double kTurningEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(std::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
constexpr double kPModuleTurningController = 1;
constexpr double kPModuleDriveController = 1;
inline constexpr double kPModuleTurningController = 1;
inline constexpr double kPModuleDriveController = 1;
} // namespace ModuleConstants
namespace AutoConstants {
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
constexpr auto kMaxAngularSpeed = 3.142_rad_per_s;
constexpr auto kMaxAngularAcceleration = 3.142_rad_per_s_sq;
inline constexpr auto kMaxSpeed = 3_mps;
inline constexpr auto kMaxAcceleration = 3_mps_sq;
inline constexpr auto kMaxAngularSpeed = 3.142_rad_per_s;
inline constexpr auto kMaxAngularAcceleration = 3.142_rad_per_s_sq;
constexpr double kPXController = 0.5;
constexpr double kPYController = 0.5;
constexpr double kPThetaController = 0.5;
inline constexpr double kPXController = 0.5;
inline constexpr double kPYController = 0.5;
inline constexpr double kPThetaController = 0.5;
//
@@ -112,5 +112,5 @@ extern const frc::TrapezoidProfile<units::radians>::Constraints
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

10
wpilibcExamples/src/main/cpp/examples/UnitTest/include/Constants.h
View File

@@ -14,13 +14,13 @@
*/
namespace IntakeConstants {
constexpr int kMotorPort = 1;
inline constexpr int kMotorPort = 1;
constexpr int kPistonFwdChannel = 0;
constexpr int kPistonRevChannel = 1;
constexpr double kIntakeSpeed = 0.5;
inline constexpr int kPistonFwdChannel = 0;
inline constexpr int kPistonRevChannel = 1;
inline constexpr double kIntakeSpeed = 0.5;
} // namespace IntakeConstants
namespace OperatorConstants {
constexpr int kJoystickIndex = 0;
inline constexpr int kJoystickIndex = 0;
} // namespace OperatorConstants

4
wpilibcExamples/src/main/cpp/examples/XRPReference/include/Constants.h
View File

@@ -14,6 +14,6 @@
*/
namespace DriveConstants {
constexpr double kCountsPerRevolution = 1440.0;
constexpr double kWheelDiameterInch = 2.75;
inline constexpr double kCountsPerRevolution = 1440.0;
inline constexpr double kWheelDiameterInch = 2.75;
} // namespace DriveConstants

2
wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h
View File

@@ -16,6 +16,6 @@
namespace OperatorConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OperatorConstants