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https://github.com/wpilibsuite/allwpilib
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77 lines
2.4 KiB
C++
77 lines
2.4 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 <units/angle.h>
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#include <units/time.h>
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#include <units/voltage.h>
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#include <wpi/numbers>
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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 * wpi::numbers::pi) /
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static_cast<double>(kEncoderCPR);
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} // namespace DriveConstants
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namespace ShooterConstants {
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constexpr int kEncoderPorts[]{4, 5};
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constexpr bool kEncoderReversed = false;
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constexpr int kEncoderCPR = 1024;
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constexpr double kEncoderDistancePerPulse =
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// Distance units will be rotations
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1.0 / static_cast<double>(kEncoderCPR);
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constexpr int kShooterMotorPort = 4;
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constexpr int kFeederMotorPort = 5;
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constexpr auto kShooterFreeRPS = 5300_tr / 1_s;
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constexpr auto kShooterTargetRPS = 4000_tr / 1_s;
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constexpr auto kShooterToleranceRPS = 50_tr / 1_s;
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constexpr double kP = 1;
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constexpr double kI = 0;
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constexpr double kD = 0;
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// On a real robot the feedforward constants should be empirically determined;
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// these are reasonable guesses.
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constexpr auto kS = 0.05_V;
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constexpr auto kV =
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// Should have value 12V at free speed...
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12_V / kShooterFreeRPS;
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constexpr double kFeederSpeed = 0.5;
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} // namespace ShooterConstants
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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 = 1;
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} // namespace OIConstants
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