[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/RapidReactCommandBot/constants.py

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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.
+#
+
+import math
+
+import wpimath.units
+
+
+class DriveConstants:
+    kLeftMotor1Port = 0
+    kLeftMotor2Port = 1
+    kRightMotor1Port = 2
+    kRightMotor2Port = 3
+
+    kLeftEncoderPorts = (0, 1)
+    kRightEncoderPorts = (2, 3)
+    kLeftEncoderReversed = False
+    kRightEncoderReversed = True
+
+    kEncoderCPR = 1024
+    kWheelDiameter = wpimath.units.inchesToMeters(6)
+    kEncoderDistancePerPulse = (kWheelDiameter * math.pi) / kEncoderCPR
+
+    # These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
+    # These values MUST be determined either experimentally or theoretically for *your* robot's
+    # drive. The SysId tool provides a convenient method for obtaining feedback and feedforward
+    # values for your robot.
+    kTurnP = 1.0
+    kTurnI = 0.0
+    kTurnD = 0.0
+
+    kTurnToleranceDeg = 5.0
+    kTurnRateToleranceDegPerS = 10.0  # degrees per second
+
+    kMaxTurnRateDegPerS = 100
+    kMaxTurnAccelerationDegPerSSquared = 300
+
+    kS = 1.0  # V
+    kV = 0.8  # V/(deg/s)
+    kA = 0.15  # V/(deg/s^2)
+
+
+class ShooterConstants:
+    kEncoderPorts = (4, 5)
+    kEncoderReversed = False
+    kEncoderCPR = 1024
+    # Distance units will be rotations
+    kEncoderDistancePerPulse = 1.0 / kEncoderCPR
+
+    kShooterMotorPort = 4
+    kFeederMotorPort = 5
+
+    kShooterFreeRPS = 5300.0
+    kShooterTargetRPS = 4000.0
+    kShooterToleranceRPS = 50.0
+
+    # These are not real PID gains, and will have to be tuned for your specific robot.
+    kP = 1.0
+
+    # On a real robot the feedforward constants should be empirically determined; these are
+    # reasonable guesses.
+    kS = 0.05  # V
+    # Should have value 12V at free speed
+    kV = 12.0 / kShooterFreeRPS  # V/(rot/s)
+
+    kFeederSpeed = 0.5
+
+
+class IntakeConstants:
+    kMotorPort = 6
+    kSolenoidPorts = (2, 3)
+
+
+class StorageConstants:
+    kMotorPort = 7
+    kBallSensorPort = 6
+
+
+class AutoConstants:
+    kTimeout = 3
+    kDriveDistance = 2.0  # m
+    kDriveSpeed = 0.5
+
+
+class OIConstants:
+    kDriverControllerPort = 0