89 lines
No EOL
2.2 KiB
C++
89 lines
No EOL
2.2 KiB
C++
#pragma once
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#include "Units.h"
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#include <units/angular_velocity.h>
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#include <units/length.h>
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#include <units/velocity.h>
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namespace constants {
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namespace can_ids {
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const int LF_DRIVE = 1;
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const int LF_TURN = 2;
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const int RF_DRIVE = 3;
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const int RF_TURN = 4;
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const int LB_DRIVE = 5;
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const int LB_TURN = 6;
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const int RB_DRIVE = 7;
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const int RB_TURN = 8;
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const int SHOOTER = 10;
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const int GATHER_LOW = 20;
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const int GATHER_HIGH_BACK = 21;
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const int GATHER_HIGH_FRONT = 22;
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const int SHEAR_LEFT = 30;
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const int SHEAR_RIGHT = 31;
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} // End namespace can_ids
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namespace dio {
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const int LF_POD_ZERO = 0;
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const int RF_POD_ZERO = 1;
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const int LB_POD_ZERO = 2;
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const int RB_POD_ZERO = 3;
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const int GATHER_LOW = 4;
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const int GATHER_HIGH = 5;
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} // End namespace dio
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namespace chassis {
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// drive full speed meters
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const auto MAX_SPEED = 21_fps;
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// double MAX_SPEED = 1.0;
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// % of max speed that the turn motors will start to move
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// Prevents abrupt angle changes when basically zero velocity is being commanded
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const double MIN_DRIVE_PERCENT = 0.05;
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// Gear ratio 72:44
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const auto ROTATE_RATIO = 72_tr / 44_tr;
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const double TURN_P = 1.0;
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const double TURN_I = 0.0;
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const double TURN_D = 0.0;
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const auto SWERVE_X_FROM_CENTER = 11_in;
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const auto SWERVE_Y_FROM_CENTER = 12.5_in;
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} // End namespace chassis
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namespace shear {
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const double SHEAR_P = 1.0;
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const double SHEAR_I = 0.0;
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const double SHEAR_D = 0.0;
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// Gearbox ratio 100:1
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const auto RATIO = 100_tr / 1_tr;
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const auto SHEAR_TOLERANCE = 0.1_deg;
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} // End namespace shear
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namespace joysticks {
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const double JOY_DRIVE_EXPO = 5.0;
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const double JOY_TURN_EXPO = 5.0;
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} // End namespace joysticks
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namespace shooter {
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const auto RATIO = 1_tr / 1_tr;
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const auto MAX_RPM = 1.0_rpm;
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const auto SHOOTER_TARGET_ERROR = 0.1_rpm;
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const double P = 1.0;
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const double I = 0.0;
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const double D = 0.0;
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const auto LOW = 0.4_rpm;
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const auto MED = 2_rpm / 3;
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const auto HIGH = 1.0_rpm;
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} // End namespace shooter
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} // End namespace Constants
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