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| Original file line number | Diff line number | Diff line change |
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| package frc.robot.configs; | ||
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| import frc.robot.Constants; | ||
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| import java.io.File; | ||
| import java.io.IOException; | ||
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| import com.fasterxml.jackson.databind.JsonNode; | ||
| import com.fasterxml.jackson.databind.ObjectMapper; | ||
| import com.fasterxml.jackson.databind.node.ObjectNode; | ||
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| import edu.wpi.first.math.util.Units; | ||
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| /** | ||
| * Use Constants as convenient storage to hold robot-wide numerical or boolean constants. | ||
| * All constants should be visible globally (public), not be on the instance (static), and should be not change (final). | ||
| * Do not put any functionality in this class. | ||
| */ | ||
| public final class WoodBotConstants implements Constants { | ||
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| // private static final String botName = "WoodBot"; | ||
| // private static final String fileFormat = "configs/%s.json"; | ||
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| // private static final JsonNode rootNode; | ||
| // static { | ||
| // JsonNode node = null; | ||
| // try { | ||
| // node = new ObjectMapper().readTree(new File(String.format(fileFormat, botName))); | ||
| // } catch (IOException e) { | ||
| // System.out.println("Invalid config file."); | ||
| // } | ||
| // rootNode = node; | ||
| // } | ||
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| public static class DriverConstants { | ||
| public static final int DRIVER_JOYSTICK_PORT = 0; | ||
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| public static final double JOYSTICK_DEAD_ZONE = 0.15; | ||
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| // Names of options for displaying | ||
| public static final String[] maxSpeedOptionsNames = {"Precise", "Normal", "Boost"}; | ||
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| // max forward/sideways velocities for drivetrain, in meters per second | ||
| public static final double[] maxSpeedOptionsTranslation = {0.44, 4.4, 11.6}; | ||
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| // max angular velocity for drivetrain, in radians per second | ||
| public static final double[] maxSpeedOptionsRotation = {1, 2, 4}; | ||
| } | ||
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| public static class OperatorConstants { | ||
| public static final int OPERATOR_JOYSTICK_PORT = 1; | ||
| } | ||
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| public static class SwerveModuleConstants { | ||
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| // Values from https://www.swervedrivespecialties.com/products/mk4-swerve-module. We have L1 Modules. | ||
| public static final double DRIVE_MOTOR_GEAR_RATIO = 57 / 7; | ||
| public static final double STEERING_MOTOR_GEAR_RATIO = 12.8; | ||
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| public static final double STEERING_ENCODER_SENSOR_COEFFICIENT = 0.000244140625; // if you put 1/4096 it just becomes zero | ||
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| public static final double WHEEL_DIAMETER_METERS = Units.inchesToMeters(7); | ||
| public static final double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER_METERS * Math.PI; | ||
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| // Other settings | ||
| public static final double MAX_SPEED_LIMIT = 1; | ||
| public static final double SWERVE_MODULE_DRIVE_COSIGN_COEFFICIENT = 1; | ||
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| // Steering PID values | ||
| public static final double STEERING_PID_P = 1; | ||
| public static final double STEERING_PID_I = 0; | ||
| public static final double STEERING_PID_D = 0.1; | ||
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| // Drive PID values | ||
| public static final double DRIVE_PID_P = 1; | ||
| public static final double DRIVE_PID_I = 0; | ||
| public static final double DRIVE_PID_D = 0.1; | ||
| public static final double DRIVE_PID_FF = 0; | ||
| public static final double DRIVE_PID_IZone = 0; | ||
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| // Front left | ||
| public static final int ANGULAR_MOTOR_ID_FL = 41; | ||
| public static final int VELOCITY_MOTOR_ID_FL = 51; | ||
| public static final int ANGULAR_MOTOR_ENCODER_ID_FL = 1; | ||
| public static final double ANGULAR_MOTOR_ENCODER_OFFSET_FL = 0; | ||
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| // Front right | ||
| public static final int ANGULAR_MOTOR_ID_FR = 4; | ||
| public static final int VELOCITY_MOTOR_ID_FR = 52; | ||
| public static final int ANGULAR_MOTOR_ENCODER_ID_FR = 2; | ||
| public static final double ANGULAR_MOTOR_ENCODER_OFFSET_FR = 0; | ||
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| // Back left | ||
| public static final int ANGULAR_MOTOR_ID_BL = 3; | ||
| public static final int VELOCITY_MOTOR_ID_BL = 53; | ||
| public static final int ANGULAR_MOTOR_ENCODER_ID_BL = 4; | ||
| public static final double ANGULAR_MOTOR_ENCODER_OFFSET_BL = 0; | ||
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| // Back right | ||
| public static final int ANGULAR_MOTOR_ID_BR = 42; | ||
| public static final int VELOCITY_MOTOR_ID_BR = 54; | ||
| public static final int ANGULAR_MOTOR_ENCODER_ID_BR = 3; | ||
| public static final double ANGULAR_MOTOR_ENCODER_OFFSET_BR = 0; | ||
| } | ||
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| public static class SwerveDrivetrainConstants { | ||
| // distance of swerve modules from center of robot | ||
| public static final double MODULE_LOCATION_X = 0.25; | ||
| public static final double MODULE_LOCATION_Y = 0.25; | ||
| } | ||
| } | ||
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