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https://github.com/wpilibsuite/allwpilib
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51 lines
1.7 KiB
C++
51 lines
1.7 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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/**
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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 kLeftMotor1Port = 0;
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inline constexpr int kLeftMotor2Port = 1;
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inline constexpr int kRightMotor1Port = 2;
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inline constexpr int kRightMotor2Port = 3;
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inline constexpr int kLeftEncoderPorts[]{0, 1};
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inline constexpr int kRightEncoderPorts[]{2, 3};
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inline constexpr bool kLeftEncoderReversed = false;
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inline constexpr bool kRightEncoderReversed = true;
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inline constexpr int kEncoderCPR = 1024;
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inline constexpr double kWheelDiameterInches = 6;
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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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(kWheelDiameterInches * std::numbers::pi) /
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static_cast<double>(kEncoderCPR);
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} // namespace DriveConstants
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namespace HatchConstants {
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inline constexpr int kHatchSolenoidModule = 0;
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inline constexpr int kHatchSolenoidPorts[]{0, 1};
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} // namespace HatchConstants
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namespace AutoConstants {
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constexpr double kAutoDriveDistanceInches = 60;
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constexpr double kAutoBackupDistanceInches = 20;
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constexpr double kAutoDriveSpeed = 0.5;
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} // namespace AutoConstants
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namespace OIConstants {
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constexpr int kDriverControllerPort = 0;
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} // namespace OIConstants
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