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Constants (#33)
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* added stopMotors function

* added & changed Constants

* removed redundant shooter conversion factor

* update sensors ports

---------

Co-authored-by: excalibur <[email protected]>
Co-authored-by: keller6738 <[email protected]>
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@YehudaRothstein @ExcaliburFRC6738 @Keller6738
3 people authored Feb 14, 2024
1 parent 309f562 commit 6c33c99
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Showing 2 changed files with 32 additions and 35 deletions.
66 changes: 32 additions & 34 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,9 @@ public static final class SwerveConstants {
public enum Modules {
// drive ID, spin ID, abs encoder channel, offset angle, drive reversed, angle reversed
FL(18, 17, 5, 0.842, true, true),
FR(12, 11, 9, 0.122, true, true),
FR(12, 11, 3, 0.122, true, true),
BL(16, 15, 4, 0.55, true, true),
BR(14, 13, 8, 0.3339, true, true);
BR(14, 13, 2, 0.3339, true, true);


public int DRIVE_MOTOR_ID, SPIN_MOTOR_ID, ABS_ENCODER_CHANNEL;
Expand All @@ -56,17 +56,18 @@ public enum Modules {
this.SPIN_MOTOR_REVERSED = SPIN_MOTOR_REVERSED;
}
}

public static final int PIGEON_ID = 19;

public static final double TRACK_WIDTH = 0.56665; // m
public static final double TRACK_WIDTH = 0.51; // m
public static final SwerveDriveKinematics kSwerveKinematics = new SwerveDriveKinematics(
new Translation2d(TRACK_WIDTH / 2, TRACK_WIDTH / 2),
new Translation2d(TRACK_WIDTH / 2, -TRACK_WIDTH / 2),
new Translation2d(-TRACK_WIDTH / 2, TRACK_WIDTH / 2),
new Translation2d(-TRACK_WIDTH / 2, -TRACK_WIDTH / 2));

public static final double MAX_VELOCITY_METER_PER_SECOND = Units.feetToMeters(12); //TODO: find values
public static final double MAX_VELOCITY_ACCELERATION_METER_PER_SECOND = 3; //TODO: find values
public static final double MAX_VELOCITY_METER_PER_SECOND = Units.feetToMeters(19.3);
public static final double MAX_VELOCITY_ACCELERATION_METER_PER_SECOND = 6; //TODO: find values

public static final double MAX_ANGULAR_VELOCITY_RAD_PER_SECOND = 2 * PI; //TODO: find values
public static final double MAX_ANGULAR_ACCELERATION_RAD_PER_SECOND = 2 * 2 * PI; //TODO: find values
Expand All @@ -88,7 +89,7 @@ public enum Modules {

public static final class ModuleConstants {
public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
public static final double kDriveMotorGearRatio = 1 / 8.14;
public static final double kDriveMotorGearRatio = 1 / 6.12;
public static final double kDriveEncoderRotationsToMeters = kDriveMotorGearRatio * PI * kWheelDiameterMeters;
public static final double kDriveEncoderRPMToMeterPerSec = kDriveEncoderRotationsToMeters / 60;
public static final double kTurningMotorGearRatio = 1 / 21.4285714;
Expand All @@ -100,31 +101,27 @@ public static final class ModuleConstants {

public static final int DRIVE_CURRENT_LIMIT = 65;
public static final int ANGLE_CURRENT_LIMIT = 25;

}

public static final class ShooterConstants {
public static final int UPPER_SHOOTER_MOTOR_ID = 31;
public static final int LOWER_SHOOTER_MOTOR_ID = 32;
public static final int UPPER_SHOOTER_MOTOR_ID = 41;
public static final int LOWER_SHOOTER_MOTOR_ID = 42;

public static final int SHOOTER_CURRENT_LIMIT = 70;

public static final int SHOOTER_BEAMBREAK_CHANNEL = 0;
public static final int SHOOTER_BEAMBREAK_CHANNEL = 6;

public static final Gains UPPER_GAINS = new Gains(new Gains(0, 0,0), new Gains(0, 0, 0, 0));
public static final Gains LOWER_GAINS = new Gains(new Gains(0, 0,0), new Gains(0, 0, 0, 0));
public static final Gains UPPER_GAINS = new Gains(new Gains(0, 0, 0), new Gains(0, 0, 0, 0)); //TODO: find value
public static final Gains LOWER_GAINS = new Gains(new Gains(0, 0, 0), new Gains(0, 0, 0, 0)); //TODO: find value

public static final double AMP_LOWER_SHOOTER_RPM = 0;
public static final double AMP_UPPER_SHOOTER_RPM = 0;
public static final double WOOFER_RPM = 0;
public static final double AMP_LOWER_SHOOTER_RPM = 0; //TODO: find value
public static final double AMP_UPPER_SHOOTER_RPM = 0; //TODO: find value
public static final double WOOFER_RPM = 0; //TODO: find value

public static final double SHOOTER_PID_TOLERANCE = 100;

public static final double SPEAKER_PREP_DC = 0;
public static final double SPEAKER_PREP_RADIUS = 0;

public static final double ROT_TO_DEGREES = 0;
public static final double RPM_TO_DEG_PER_SEC = 0;
public static final double SPEAKER_PREP_DC = 0; //TODO: find value
public static final double SPEAKER_PREP_RADIUS = 0;//TODO: find value

// sysid
private static final double RAMP_RATE = 3;
Expand All @@ -135,25 +132,26 @@ public static final class ShooterConstants {
}

public static final class IntakeConstants {
public static final Gains PID_GAINS = new Gains(0, 0, 0);
public static final Gains FF_ANGLE_GAINS = new Gains(0, 0, 0);
public static final int INTAKE_MOTOR_ID = 21; //TODO: find value
public static final int ANGLE_MOTOR_ID = 22;//TODO: find value

public static final int INTAKE_MOTOR_ID = 0;
public static final int ANGLE_MOTOR_ID = 0;
public static final int ENCODER_PORT = 1; //TODO: find value
public static final int BEAMBREAK_PORT = 0;//TODO: find value

public static final int ENCODER_PORT = 0;
public static final int BEAMBREAK_PORT = 0;
public static final Gains PID_GAINS = new Gains(0, 0, 0);//TODO: find value
public static final Gains FF_ANGLE_GAINS = new Gains(0, 0, 0);//TODO: find value

public static final double INTAKE_MOTOR_POSITION_CONVERSION_FACTOR = 0;
public static final double INTAKE_MOTOR_VELOCITY_CONVERSION_FACTOR = 0;
public static final double INTAKE_MOTOR_POSITION_CONVERSION_FACTOR = 0;//TODO: find value
public static final double INTAKE_MOTOR_VELOCITY_CONVERSION_FACTOR = 0;//TODO: find value

public static final double INTAKE_ENCODER_OFFSET_POSITION = 0;
public static final int ANGLE_THRESHOLD = 2;
public static final int MINIMAL_INTAKE_ANGLE = 2;
public static final double INTAKE_ENCODER_OFFSET_POSITION = 0;//TODO: find value
public static final int ANGLE_THRESHOLD = 2;//TODO: find value
public static final int MINIMAL_INTAKE_ANGLE = 2;//TODO: find value

public static final double AMP_SHOOTER_SPEED = -0.5;
public static final double AMP_SHOOTER_SPEED = -0.5;//TODO: find value
public static final double STALL_DC = 0.1;

//sysid
private static final double RAMP_RATE = 3;
private static final double STEP_VOLTAGE = 0.5;
private static final double TIMEOUT = 10;
Expand Down Expand Up @@ -191,7 +189,7 @@ public enum FieldLocations {
}

public static class LedsConstants {
public static final int LEDS_PORT = 0; // pwm
public static final int LENGTH = 0;
public static final int LEDS_PORT = 0; // pwm //TODO: find value
public static final int LENGTH = 0; //TODO: find value
}
}
1 change: 0 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,6 @@ public class Shooter extends SubsystemBase {

public Shooter() {
upperShooter.setIdleMode(kCoast);
upperShooter.setConversionFactors(ROT_TO_DEGREES, RPM_TO_DEG_PER_SEC);
upperShooter.setSmartCurrentLimit(SHOOTER_CURRENT_LIMIT);

lowerShooter.follow(upperShooter, false);
Expand Down

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