mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
90 lines
2.2 KiB
Python
90 lines
2.2 KiB
Python
#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import math
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import wpimath.units
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class DriveConstants:
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kLeftMotor1Port = 0
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kLeftMotor2Port = 1
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kRightMotor1Port = 2
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kRightMotor2Port = 3
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kLeftEncoderPorts = (0, 1)
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kRightEncoderPorts = (2, 3)
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kLeftEncoderReversed = False
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kRightEncoderReversed = True
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kEncoderCPR = 1024
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kWheelDiameter = wpimath.units.inchesToMeters(6)
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kEncoderDistancePerPulse = (kWheelDiameter * math.pi) / kEncoderCPR
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# These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
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# These values MUST be determined either experimentally or theoretically for *your* robot's
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# drive. The SysId tool provides a convenient method for obtaining feedback and feedforward
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# values for your robot.
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kTurnP = 1.0
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kTurnI = 0.0
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kTurnD = 0.0
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kTurnToleranceDeg = 5.0
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kTurnRateToleranceDegPerS = 10.0 # degrees per second
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kMaxTurnRateDegPerS = 100
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kMaxTurnAccelerationDegPerSSquared = 300
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kS = 1.0 # V
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kV = 0.8 # V/(deg/s)
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kA = 0.15 # V/(deg/s^2)
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class ShooterConstants:
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kEncoderPorts = (4, 5)
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kEncoderReversed = False
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kEncoderCPR = 1024
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# Distance units will be rotations
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kEncoderDistancePerPulse = 1.0 / kEncoderCPR
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kShooterMotorPort = 4
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kFeederMotorPort = 5
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kShooterFreeRPS = 5300.0
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kShooterTargetRPS = 4000.0
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kShooterToleranceRPS = 50.0
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# These are not real PID gains, and will have to be tuned for your specific robot.
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kP = 1.0
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# On a real robot the feedforward constants should be empirically determined; these are
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# reasonable guesses.
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kS = 0.05 # V
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# Should have value 12V at free velocity
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kV = 12.0 / kShooterFreeRPS # V/(rot/s)
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kFeederVelocity = 0.5
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class IntakeConstants:
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kMotorPort = 6
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kSolenoidPorts = (2, 3)
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class StorageConstants:
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kMotorPort = 7
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kBallSensorPort = 6
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class AutoConstants:
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kTimeout = 3
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kDriveDistance = 2.0 # m
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kDriveVelocity = 0.5
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class OIConstants:
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kDriverControllerPort = 0
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