mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
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>
75 lines
2.3 KiB
C++
75 lines
2.3 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 <units/angle.h>
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#include <units/angular_velocity.h>
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#include <units/time.h>
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#include <units/voltage.h>
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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 kLeftMotor1Port = 0;
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constexpr int kLeftMotor2Port = 1;
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constexpr int kRightMotor1Port = 2;
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constexpr int kRightMotor2Port = 3;
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constexpr int kLeftEncoderPorts[]{0, 1};
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constexpr int kRightEncoderPorts[]{2, 3};
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constexpr bool kLeftEncoderReversed = false;
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constexpr bool kRightEncoderReversed = true;
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constexpr int kEncoderCPR = 1024;
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constexpr double kWheelDiameterInches = 6;
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constexpr double kEncoderDistancePerPulse =
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// Assumes the encoders are directly mounted on the wheel shafts
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(kWheelDiameterInches * std::numbers::pi) /
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static_cast<double>(kEncoderCPR);
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} // namespace DriveConstants
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namespace ArmConstants {
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constexpr int kMotorPort = 4;
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constexpr double kP = 1;
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// These are fake gains; in actuality these must be determined individually for
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// each robot
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constexpr auto kS = 1_V;
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constexpr auto kG = 1_V;
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constexpr auto kV = 0.5_V * 1_s / 1_rad;
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constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
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constexpr auto kMaxVelocity = 3_rad_per_s;
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constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
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constexpr int kEncoderPorts[]{4, 5};
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constexpr int kEncoderPPR = 256;
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constexpr auto kEncoderDistancePerPulse =
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2.0_rad * std::numbers::pi / kEncoderPPR;
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// The offset of the arm from the horizontal in its neutral position,
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// measured from the horizontal
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constexpr auto kArmOffset = 0.5_rad;
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} // namespace ArmConstants
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namespace AutoConstants {
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constexpr auto kAutoTimeoutSeconds = 12_s;
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constexpr auto kAutoShootTimeSeconds = 7_s;
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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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