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49 lines
1.6 KiB
C++
49 lines
1.6 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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#pragma once
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#include <numbers>
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#include <wpi/units/acceleration.hpp>
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#include <wpi/units/length.hpp>
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#include <wpi/units/time.hpp>
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#include <wpi/units/velocity.hpp>
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#include <wpi/units/voltage.hpp>
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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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inline constexpr units::second_t kDt{0.02};
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inline constexpr int kLeftMotor1Port = 0;
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inline constexpr int kLeftMotor2Port = 1;
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inline constexpr int kRightMotor1Port = 2;
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inline constexpr int kRightMotor2Port = 3;
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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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inline constexpr auto ks = 1_V;
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inline constexpr auto kv = 0.8_V * 1_s / 1_m;
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inline constexpr auto ka = 0.15_V * 1_s * 1_s / 1_m;
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inline constexpr double kp = 1;
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inline constexpr auto kMaxSpeed = 3_mps;
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inline constexpr auto kMaxAcceleration = 3_mps_sq;
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} // namespace DriveConstants
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namespace OIConstants {
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inline constexpr int kDriverControllerPort = 0;
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} // namespace OIConstants
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