mirror of
https://github.com/wpilibsuite/allwpilib
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77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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class TestBench {
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public:
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/* Analog input channels */
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static const uint32_t kCameraGyroChannel = 0;
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static const uint32_t kFakeCompressorChannel = 1;
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static const uint32_t kFakeAnalogOutputChannel = 2;
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/* Analog output channels */
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static const uint32_t kAnalogOutputChannel = 0;
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static const uint32_t kFakeJaguarPotentiometer = 1;
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/* DIO channels */
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static const uint32_t kTalonEncoderChannelA = 0;
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static const uint32_t kTalonEncoderChannelB = 1;
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static const uint32_t kVictorEncoderChannelA = 2;
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static const uint32_t kVictorEncoderChannelB = 3;
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static const uint32_t kJaguarEncoderChannelA = 4;
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static const uint32_t kJaguarEncoderChannelB = 5;
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static const uint32_t kLoop1OutputChannel = 6;
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static const uint32_t kLoop1InputChannel = 7;
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static const uint32_t kLoop2OutputChannel = 8;
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static const uint32_t kLoop2InputChannel = 9;
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/* PWM channels */
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static const uint32_t kVictorChannel = 1;
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static const uint32_t kJaguarChannel = 2;
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static const uint32_t kCameraPanChannel = 8;
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static const uint32_t kCameraTiltChannel = 9;
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/* MXP digital channels */
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static const uint32_t kTalonChannel = 10;
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static const uint32_t kFakePressureSwitchChannel = 11;
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static const uint32_t kFakeSolenoid1Channel = 12;
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static const uint32_t kFakeSolenoid2Channel = 13;
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static const uint32_t kFakeRelayForward = 18;
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static const uint32_t kFakeRelayReverse = 19;
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static const uint32_t kFakeJaguarForwardLimit = 20;
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static const uint32_t kFakeJaguarReverseLimit = 21;
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/* Relay channels */
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static const uint32_t kRelayChannel = 0;
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static const uint32_t kCANJaguarRelayChannel = 1;
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/* CAN IDs */
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static const uint32_t kCANJaguarID = 2;
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/* PDP channels */
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static const uint32_t kJaguarPDPChannel = 6;
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static const uint32_t kVictorPDPChannel = 8;
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static const uint32_t kTalonPDPChannel = 10;
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/* PCM channels */
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static const int32_t kSolenoidChannel1 = 0;
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static const int32_t kSolenoidChannel2 = 1;
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/* Filter constants */
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static constexpr double kFilterStep = 0.005;
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static constexpr double kFilterTime = 2.0;
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static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
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static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
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static constexpr double kHighPassTimeConstant = 0.006631;
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static constexpr double kHighPassExpectedOutput = 10.074717;
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static constexpr int32_t kMovAvgTaps = 6;
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static constexpr double kMovAvgExpectedOutput = -10.191644;
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};
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