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34 lines
897 B
Python
34 lines
897 B
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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from wpimath import units
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class Constants:
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kMotorPort = 0
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kEncoderAChannel = 0
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kEncoderBChannel = 1
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kJoystickPort = 0
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kArmPositionKey = "ArmPosition"
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kArmPKey = "ArmP"
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# The P gain for the PID controller that drives this arm.
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kDefaultArmKp = 50.0
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kDefaultArmSetpointDegrees = 75.0
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# distance per pulse = (angle per revolution) / (pulses per revolution)
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# = (2 * PI rads) / (4096 pulses)
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kArmEncoderDistPerPulse = 2.0 * math.pi / 4096
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kArmReduction = 200
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kArmMass = 8.0 # Kilograms
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kArmLength = units.inchesToMeters(30)
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kMinAngleRads = units.degreesToRadians(-75)
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kMaxAngleRads = units.degreesToRadians(255)
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