mirror of
https://github.com/wpilibsuite/allwpilib
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fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
112 lines
4.0 KiB
C++
112 lines
4.0 KiB
C++
// 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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#include <numbers>
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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/SwerveDriveKinematics.h>
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#include <frc/trajectory/TrapezoidProfile.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/angular_acceleration.h>
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#include <units/angular_velocity.h>
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#include <units/length.h>
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#include <units/time.h>
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#include <units/velocity.h>
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#include <units/voltage.h>
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#pragma once
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/**
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* The Constants header provides a convenient place for teams to hold robot-wide
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* numerical or bool constants. This should not be used for any other purpose.
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*
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* It is generally a good idea to place constants into subsystem- or
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* command-specific namespaces within this header, which can then be used where
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* they are needed.
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*/
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namespace DriveConstants {
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constexpr int kFrontLeftDriveMotorPort = 0;
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constexpr int kRearLeftDriveMotorPort = 2;
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constexpr int kFrontRightDriveMotorPort = 4;
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constexpr int kRearRightDriveMotorPort = 6;
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constexpr int kFrontLeftTurningMotorPort = 1;
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constexpr int kRearLeftTurningMotorPort = 3;
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constexpr int kFrontRightTurningMotorPort = 5;
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constexpr int kRearRightTurningMotorPort = 7;
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constexpr int kFrontLeftTurningEncoderPorts[2]{0, 1};
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constexpr int kRearLeftTurningEncoderPorts[2]{2, 3};
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constexpr int kFrontRightTurningEncoderPorts[2]{4, 5};
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constexpr int kRearRightTurningEncoderPorts[2]{6, 7};
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constexpr bool kFrontLeftTurningEncoderReversed = false;
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constexpr bool kRearLeftTurningEncoderReversed = true;
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constexpr bool kFrontRightTurningEncoderReversed = false;
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constexpr bool kRearRightTurningEncoderReversed = true;
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constexpr int kFrontLeftDriveEncoderPorts[2]{8, 9};
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constexpr int kRearLeftDriveEncoderPorts[2]{10, 11};
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constexpr int kFrontRightDriveEncoderPorts[2]{12, 13};
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constexpr int kRearRightDriveEncoderPorts[2]{14, 15};
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constexpr bool kFrontLeftDriveEncoderReversed = false;
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constexpr bool kRearLeftDriveEncoderReversed = true;
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constexpr bool kFrontRightDriveEncoderReversed = false;
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constexpr bool kRearRightDriveEncoderReversed = true;
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// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
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// These characterization values MUST be determined either experimentally or
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// theoretically for *your* robot's drive. The SysId tool provides a convenient
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// method for obtaining these values for your robot.
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constexpr auto ks = 1_V;
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constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
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constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
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// Example value only - as above, this must be tuned for your drive!
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constexpr double kPFrontLeftVel = 0.5;
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constexpr double kPRearLeftVel = 0.5;
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constexpr double kPFrontRightVel = 0.5;
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constexpr double kPRearRightVel = 0.5;
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} // namespace DriveConstants
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namespace ModuleConstants {
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constexpr int kEncoderCPR = 1024;
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constexpr double kWheelDiameterMeters = 0.15;
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constexpr double kDriveEncoderDistancePerPulse =
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// Assumes the encoders are directly mounted on the wheel shafts
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(kWheelDiameterMeters * std::numbers::pi) /
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static_cast<double>(kEncoderCPR);
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constexpr double kTurningEncoderDistancePerPulse =
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// Assumes the encoders are directly mounted on the wheel shafts
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(std::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
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constexpr double kPModuleTurningController = 1;
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constexpr double kPModuleDriveController = 1;
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} // namespace ModuleConstants
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namespace AutoConstants {
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constexpr auto kMaxSpeed = 3_mps;
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constexpr auto kMaxAcceleration = 3_mps_sq;
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constexpr auto kMaxAngularSpeed = 3.142_rad_per_s;
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constexpr auto kMaxAngularAcceleration = 3.142_rad_per_s_sq;
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constexpr double kPXController = 0.5;
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constexpr double kPYController = 0.5;
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constexpr double kPThetaController = 0.5;
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//
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extern const frc::TrapezoidProfile<units::radians>::Constraints
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kThetaControllerConstraints;
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} // namespace AutoConstants
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namespace OIConstants {
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constexpr int kDriverControllerPort = 0;
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} // namespace OIConstants
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