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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
52 lines
1.2 KiB
Python
52 lines
1.2 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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#
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# The constants module is a convenience place for teams to hold robot-wide
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# numerical or boolean constants. Don't use this for any other purpose!
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#
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import math
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import wpilib
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# Motors
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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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# Encoders
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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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kWheelDiameterInches = 6
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# Assumes the encoders are directly mounted on the wheel shafts
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kEncoderDistancePerPulse = (kWheelDiameterInches * math.pi) / kEncoderCPR
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# Hatch
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kHatchSolenoidModuleType = wpilib.PneumaticsModuleType.CTREPCM
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kHatchSolenoidModule = 0
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kHatchSolenoidPorts = (0, 1)
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# Autonomous
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kAutoDriveDistanceInches = 60
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kAutoBackupDistanceInches = 20
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kAutoDriveVelocity = 0.5
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# Operator Interface
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kDriverControllerPort = 0
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# Physical parameters
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kDriveTrainMotorCount = 2
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kTrackWidth = 0.381 * 2
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kGearingRatio = 8
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kWheelRadius = 0.0508
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# kEncoderResolution = -
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