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https://github.com/wpilibsuite/allwpilib
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56 lines
1.8 KiB
C++
56 lines
1.8 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/acceleration.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include <units/mass.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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/**
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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 Constants {
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inline constexpr int kMotorPort = 0;
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inline constexpr int kEncoderAChannel = 0;
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inline constexpr int kEncoderBChannel = 1;
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inline constexpr int kJoystickPort = 0;
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inline constexpr double kElevatorKp = 5.0;
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inline constexpr double kElevatorKi = 0.0;
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inline constexpr double kElevatorKd = 0.0;
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inline constexpr units::volt_t kElevatorkS = 0.0_V;
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inline constexpr units::volt_t kElevatorkG = 0.762_V;
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inline constexpr auto kElevatorkV = 0.762_V / 1_mps;
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inline constexpr auto kElevatorkA = 0.0_V / 1_mps_sq;
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inline constexpr double kElevatorGearing = 10.0;
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inline constexpr units::meter_t kElevatorDrumRadius = 2_in;
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inline constexpr units::kilogram_t kCarriageMass = 4.0_kg;
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inline constexpr units::meter_t kSetpoint = 75_cm;
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inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
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inline constexpr units::meter_t kMaxElevatorHeight = 1.25_m;
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// distance per pulse = (distance per revolution) / (pulses per revolution)
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// = (Pi * D) / ppr
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inline constexpr double kArmEncoderDistPerPulse =
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2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
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} // namespace Constants
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