constants for 4123

Constants.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;

public final class Constants {

	public static final class UsbConstants {
		public static final int DRIVER_CONTROLLER_PORT = 0;
		public static final int AUXDRIVER_CONTROLLER_PORT = 1;
	}

	public static final class XboxController {

		// Button mappings
		static public int D_PAD = 0;
		static public int A_BUTTON = 1;
		static public int B_BUTTON = 2;
		static public int X_BUTTON = 3;
		static public int Y_BUTTON = 4;
		static public int LB_BUTTON = 5;
		static public int RB_BUTTON = 6;
		static public int BACK_BUTTON = 7;
		static public int START_BUTTON = 8;
		static public int LEFT_STICK = 9;
		static public int RIGHT_STICK = 10;

		// Axis control mappings
		// Notes:
		// - Left and right trigger use axis 3
		// - Left trigger range: 0 to 1
		// - Right trigger range: 0 to -1).
		static public int LEFT_AXIS_X = 6;
		static public int LEFT_AXIS_Y = 1;
		static public int LEFT_TRIGGER_AXIS = 2;
		static public int RIGHT_TRIGGER_AXIS = 3;
		static public int RIGHT_AXIS_X = 4;
		static public int RIGHT_AXIS_Y = 5;

		// Direction pad lookup angles
		static public int POV_UP = 0;
		static public int POV_RIGHT = 90;
		static public int POV_DOWNN = 180;
		static public int POV_LEFT = 270;

	}

	public static final class PS4Controller {

		static public int X_BUTTON = 1;
		static public int O_BUTTON = 2;
		static public int SQUARE_BUTTON = 3;
		static public int TRIANGLE_BUTTON = 4;

	}

	public static final class LogitecController {

		public static final int ONE_BUTTON = 1;
		public static final int TWO_BUTTON = 2;
		public static final int THREE_BUTTON = 3;
		public static final int FOUR_BUTTON = 4;
		public static final int LB_BUTTON = 5;
		public static final int RB_BUTTON = 6;

	}

	public static final class DriveConstants {

		// middle to middle of the wheel
		public static final double TRACK_WIDTH_METERS = 0.638;
		public static final int MAG_ENCODER_CPR = 4096;
		public static final int TALONFX_ENCODER_CPR = 2048;
		public static final double GEAR_RATIO = 11.25; // 12:50 => 20:54 on a falconfx gives 14.8 fps. Driven/Driver
		public static final double WHEEL_DIAMETER_METERS = 0.15875;
		public static final double WHEEL_CIRCUMFERENCE_METERS = Math.PI * WHEEL_DIAMETER_METERS;
		public static final double RAMSETE_B = 2.0;
		public static final double RAMSETE_ZETA = 0.7;
		public static final double MAX_METERS_PER_SECOND = 0.25;
		public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 0.2;
		public static final double MAX_VOLTAGE_AUTO = 10;
		public static final double STARTING_POSE_X = 12.8;
		public static final double STARTING_POSE_Y = -5.8;
		public static boolean IS_GYRO_REVERSED_FOR_PATHWEAVER = true;
		public static final DifferentialDriveKinematics DRIVE_KINEMATICS = new DifferentialDriveKinematics(
				TRACK_WIDTH_METERS);
		public static final SimpleMotorFeedforward SIMPLE_MOTOR_FEED_FOWARD = new SimpleMotorFeedforward(
				PidConstants.KS_FEEDFOWARD, PidConstants.KV_FEEDFOWARD, PidConstants.KA_FEEDFOWARD);
	}

	public static final class CanIdConstants {
		public static final int LEFT_MASTER_ID = 1;
		public static final int LEFT_SLAVE_ID = 2;
		public static final int RIGHT_MASTER_ID = 3;
		public static final int RIGHT_SLAVE_ID = 4;
		public static final int INTAKE_ROLLER_ID = 5;
		public static final int INTAKE_GATE_ID = 6;
		public static final int SHOOTER_MASTER_ID = 7;
		public static final int SHOOTER_SLAVE_ID = 8;
		public static final int WINCH_MASTER_ID = 9;
		public static final int WINCH_SLAVE_ID = 10;
		public static final int ELEVATOR_MOTOR_ID = 11;
		public static final int INDEX_MOTOR_ID = 12;

	}

	public static final class PidConstants {
		public static final double KS_FEEDFOWARD = 1.2;
		public static final double KV_FEEDFOWARD = 0.329;
		public static final double KA_FEEDFOWARD = 0.0933;
		public static final double OPTIMAL_KP = 4;
		public static final double OPTIMAL_KD = 4.51;
	}

	public static final class AutoAimConstants {
		public static final double KP_ROTATION_AUTOAIM = 0.025;
		public static final double KD_ROTATION_AUTOAIM = 0.0006;
		public static final double ANGLE_TOLERANCE = 1.0; // IN DEGREES
	}

	public static final class VoltageConstants {
		public static final double STOP = 0;
		public static final double INDEX_WHEEL_SPEED = 1.0;
		public static final double ELEVATOR_DOWN_VOLTAGE = -1.0;
		public static final double ELEVATOR_UP_VOLTAGE = 3.0;
		public static final double INTAKE_GATE_DOWN = 1.5;
		public static final double INTAKE_GATE_UP_VOLTAGE = -4.5;
		public static final double WINCH_DOWN_VOLTAGE = -4.0;
		public static final double WINCH_UP_VOLTAGE = 11.5;
		public static final double INTAKE_WHEEL_SPEED_OUT = .5;
		public static final double INTAKE_WHEEL_SPEED_IN = .45;
		public static final DifferentialDriveVoltageConstraint autoVoltageConstraint = new DifferentialDriveVoltageConstraint(
				DriveConstants.SIMPLE_MOTOR_FEED_FOWARD, DriveConstants.DRIVE_KINEMATICS,
				DriveConstants.MAX_VOLTAGE_AUTO);
		public static final double TURN_VOLTAGE_COMPENSATION_VOLTS = 5;

	}

}