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ac1705ae2b
* Move units into API docs instead because suffixes make user code verbose and hard to read * Rename trackWidth to trackwidth * Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft, and inches
92 lines
3.4 KiB
C++
92 lines
3.4 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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#include <numbers>
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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/MecanumDriveKinematics.h>
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#include <frc/trajectory/TrapezoidProfile.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/angular_acceleration.h>
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#include <units/angular_velocity.h>
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#include <units/length.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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#pragma once
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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 int kFrontLeftMotorPort = 0;
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inline constexpr int kRearLeftMotorPort = 1;
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inline constexpr int kFrontRightMotorPort = 2;
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inline constexpr int kRearRightMotorPort = 3;
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inline constexpr int kFrontLeftEncoderPorts[]{0, 1};
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inline constexpr int kRearLeftEncoderPorts[]{2, 3};
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inline constexpr int kFrontRightEncoderPorts[]{4, 5};
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inline constexpr int kRearRightEncoderPorts[]{6, 7};
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inline constexpr bool kFrontLeftEncoderReversed = false;
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inline constexpr bool kRearLeftEncoderReversed = true;
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inline constexpr bool kFrontRightEncoderReversed = false;
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inline constexpr bool kRearRightEncoderReversed = true;
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inline constexpr auto kTrackwidth =
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0.5_m; // Distance between centers of right and left wheels on robot
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inline constexpr auto kWheelBase =
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0.7_m; // Distance between centers of front and back wheels on robot
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extern const frc::MecanumDriveKinematics kDriveKinematics;
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inline constexpr int kEncoderCPR = 1024;
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inline constexpr auto kWheelDiameter = 0.15_m;
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inline constexpr double kEncoderDistancePerPulse =
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// Assumes the encoders are directly mounted on the wheel shafts
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(kWheelDiameter.value() * std::numbers::pi) /
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static_cast<double>(kEncoderCPR);
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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 * 1_V * 1_s / 1_m;
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inline constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
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// Example value only - as above, this must be tuned for your drive!
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inline constexpr double kPFrontLeftVel = 0.5;
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inline constexpr double kPRearLeftVel = 0.5;
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inline constexpr double kPFrontRightVel = 0.5;
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inline constexpr double kPRearRightVel = 0.5;
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} // namespace DriveConstants
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namespace AutoConstants {
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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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inline constexpr auto kMaxAngularSpeed = 3_rad_per_s;
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inline constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
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inline constexpr double kPXController = 0.5;
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inline constexpr double kPYController = 0.5;
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inline constexpr double kPThetaController = 0.5;
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extern const frc::TrapezoidProfile<units::radians>::Constraints
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kThetaControllerConstraints;
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} // namespace AutoConstants
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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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