Constants

Constants.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;

/**
 * The Constants class provides a convenient place for teams to hold robot-wide
 * numerical or boolean
 * constants. This class should not be used for any other purpose. All constants
 * should be declared
 * globally (i.e. public static). Do not put anything functional in this class.
 *
 * <p>
 * It is advised to statically import this class (or one of its inner classes)
 * wherever the
 * constants are needed, to reduce verbosity.
 */
public final class Constants {

  public static final class DriveConstants {
    public static final int kLeftMotor1Port = 4; // 3 CAN ID for practice robot
    public static final int kLeftMotor2Port = 5; // 4
    public static final int kRightMotor1Port = 1; // 1
    public static final int kRightMotor2Port = 2; // 2

    public static final boolean kLeftMotorInverted = true;
    public static final boolean kRightMotorInverted = false;

    public static final double kTrackwidthMeters = 0.559;
    public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(
        kTrackwidthMeters);

    public static final double gearingRatio = 1.0 / 10.86; // output shaft rotations / motor rotations

    public static final double kWheelDiameterMeters = 0.152;


    // The Robot Characterization Toolsuite provides a convenient tool for obtaining
    // these
    // values for your robot.
    public static final double ksVolts = 0.13377; //0.24929; new values //
    public static final double kvVoltSecondsPerMeter = 6.5638; //6.3539;
    public static final double kaVoltSecondsSquaredPerMeter = 4.156;//0.552; //1.788;

    // Example value only - as above, this must be tuned for your drive!
    public static final double kPDriveVel = 1.0; // 0.4; //test (1.1879E-05; new) //9.1725E-07
    public static final double kIDriveVel = 0.0;
    public static final double kDDriveVel = 0.0;

    public static final double kPDrivePos = 1;
    public static final double kIDrivePos = 0;
    public static final double kDDrivePos = 0;

    public static double kDriveTolerance = 0.2;
    public static double kDriveToleranceMetersPerSec = 0.1;
  }

  public static final class ControllerID {

  }


  public static final class AutoConstants {
    public static final double kMaxSpeedMetersPerSecond = 1; //1.5
    public static final double kMaxAccelerationMetersPerSecondSquared = 0.1; //0.1

    // Reasonable baseline values for a RAMSETE follower in units of meters and
    // seconds
    public static final double kRamseteB = 2;
    public static final double kRamseteZeta = 0.7;
  }

}