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Merge branch 'feat/testing-shooter' into feat/code-review
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@audreypj
audreypj committed Sep 18, 2024
2 parents ed80596 + 0f32cc6 commit e1077e8
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Empty file modified gradlew
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181 changes: 102 additions & 79 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ public static final class Config {
}

public static final class Drive {
public static final int PIGEON_PORT = 0; // placeholder
public static final int PIGEON_PORT = 0; // FIXME
public static final String SWERVE_CANBUS = "rio"; // placeholder

// max voltage delivered to drivebase
Expand Down Expand Up @@ -118,42 +118,43 @@ public static final class Drive {
public static final class Dims {
// FIXME validate with hardware
public static final double TRACKWIDTH_METERS =
.5207; // 20.5 inches (source: cad) converted to meters
.5207; // 20.5 inches (source: cad) converted to
// meters
public static final double WHEELBASE_METERS = TRACKWIDTH_METERS; // robot is square

public static final double BUMPER_WIDTH_METERS_X = .9779;
public static final double BUMPER_WIDTH_METERS_Y = .8382;
}

/*
module layout:
|──────
|->│# ##steer motor
│ │ ##cancoder
│ │##drive motor
module number
steer is always left
from corner perspective
robot visualization:
|──────────────────────|
│2 10 04 1│
│ 25 24 │
│11 S D 03│
│ D S │
│ │
│ │
│ S D │
│ D S │
│12 |────────| 02│
│ 26 │ │ 27 │
│3 13│ batt │01 4│
|──────┴───┬┬───┴──────|
││
││
▼▼
software front
* module layout:
* |──────
* |->│# ##steer motor
* │ │ ##cancoder
* │ │##drive motor
* module number
*
* steer is always left
* from corner perspective
*
* robot visualization:
* |──────────────────────|
* │2 10 04 1│
* │ 25 24 │
* │11 S D 03│
* │ D S │
* │ │
* │ │
* │ S D │
* │ D S │
* │12 |────────| 02│
* │ 26 │ │ 27 │
* │3 13│ batt │01 4│
* |──────┴───┬┬───┴──────|
* ││
* ││
* ▼▼
* software front
*/

public static final class Modules {
Expand Down Expand Up @@ -244,50 +245,52 @@ public static final class Modes {
public static final IntakePowers INTAKE = new IntakePowers(.95, .75);
public static final IntakePowers HOLD = new IntakePowers(0, 0d);
public static final IntakePowers REVERSE = new IntakePowers(-.5, -.5);
public static final IntakePowers SHOOT_SPEAKER = new IntakePowers(0, 0.7);
public static final IntakePowers SHOOT_AMP = new IntakePowers(0, -1);
}

public static final boolean IS_BEAMBREAK = true;
}

public static final class Shooter {
public static final class Ports {
public static final int TOP_SHOOTER_MOTOR_PORT = 20;
public static final int BOTTOM_SHOOTER_MOTOR_PORT = 19;
public static final int TOP_SHOOTER_MOTOR_PORT = 0;
public static final int BOTTOM_SHOOTER_MOTOR_PORT = 5;
public static final int ACCELERATOR_MOTOR_PORT = 17;
public static final int BEAM_BREAK_SENSOR_PORT = 8;
}

public static final class Modes {
public static final ShooterSubsystem.ShooterPowers INTAKE =
new ShooterSubsystem.ShooterPowers(76, 1, .15);
new ShooterSubsystem.ShooterPowers(76, 1, 0, 0);
public static final ShooterSubsystem.ShooterPowers IDLE =
new ShooterSubsystem.ShooterPowers(0, 0, 0);
new ShooterSubsystem.ShooterPowers(0, 0, 0, 0);
public static final ShooterSubsystem.ShooterPowers RAMP_AMP =
new ShooterSubsystem.ShooterPowers(0, 0, 0, 0);
public static final ShooterSubsystem.ShooterPowers RAMP_SPEAKER =
new ShooterSubsystem.ShooterPowers(76, 1, 0);
public static final ShooterSubsystem.ShooterPowers RAMP_AMP_BACK =
new ShooterSubsystem.ShooterPowers(25, 0.4, 0);
public static final ShooterSubsystem.ShooterPowers RAMP_AMP_FRONT =
new ShooterSubsystem.ShooterPowers(10, 2.5, 0);
new ShooterSubsystem.ShooterPowers(76, 1, 0, 0);
public static final ShooterSubsystem.ShooterPowers SHOOT_SPEAKER =
new ShooterSubsystem.ShooterPowers(76, 1, .5);
new ShooterSubsystem.ShooterPowers(76, 1, .5, 0);
public static final ShooterSubsystem.ShooterPowers TARGET_LOCK =
new ShooterSubsystem.ShooterPowers(0, 1, 0);
public static final ShooterSubsystem.ShooterPowers SHOOT_AMP_BACK =
new ShooterSubsystem.ShooterPowers(25, 0.4, .5);
public static final ShooterSubsystem.ShooterPowers SHOOT_AMP_FORWARD =
new ShooterSubsystem.ShooterPowers(8, 2.5, .5);
new ShooterSubsystem.ShooterPowers(0, 1, 0, 0);
public static final ShooterSubsystem.ShooterPowers SHOOT_AMP =
new ShooterSubsystem.ShooterPowers(0, 0, 0, -1);
public static final ShooterSubsystem.ShooterPowers MAINTAIN_VELOCITY =
new ShooterSubsystem.ShooterPowers(40, 1, 0);
new ShooterSubsystem.ShooterPowers(40, 1, 0, 0);
public static final ShooterSubsystem.ShooterPowers SHUTTLE =
new ShooterSubsystem.ShooterPowers(30, 1, 0);
new ShooterSubsystem.ShooterPowers(30, 1, 0, 0);
public static final ShooterSubsystem.ShooterPowers SHOOT_SHUTTLE =
new ShooterSubsystem.ShooterPowers(30, 1, 0.5);
new ShooterSubsystem.ShooterPowers(30, 1, 0.5, 0);
public static final ShooterSubsystem.ShooterPowers ACCEL_SECURE =
new ShooterSubsystem.ShooterPowers(76, 1, 0.5);
new ShooterSubsystem.ShooterPowers(76, 1, 0.5, 0);
public static final ShooterSubsystem.ShooterPowers VARIABLE_VELOCITY =
new ShooterSubsystem.ShooterPowers(30, 1, 0);
new ShooterSubsystem.ShooterPowers(30, 1, 0, 0);
public static final ShooterSubsystem.ShooterPowers SHOOT_VAR =
new ShooterSubsystem.ShooterPowers(30, 1, 0.5);
new ShooterSubsystem.ShooterPowers(30, 1, 0.5, 0);
public static final ShooterSubsystem.ShooterPowers LOAD_SHOOTER =
new ShooterSubsystem.ShooterPowers(0, 0, 0.5, 0.5);
public static final ShooterSubsystem.ShooterPowers SHOOTER_UNLOAD =
new ShooterSubsystem.ShooterPowers(0, 0, -0.5, -0.5);
}

public static final Slot0Configs ROLLER_PID_CONFIG =
Expand Down Expand Up @@ -346,8 +349,9 @@ public static final class Setpoints {
public static final int EPSILON = 2;

public static final double PIVOT_CANCODER_OFFSET = -0.625977 + (0.070139 - 0.031250);
public static final double PIVOT_GEAR_RATIO =
(60 / 8) * (60 / 16) * (72 / 15); // FIXME placeholder values
/** degrees per rotation */
public static final double PIVOT_GEAR_RATIO = 5.33333; // not used
// values
public static final double CENTER_OF_ROBOT_TO_BUMPER = 0.41275;

public static final Pose2d RED_SPEAKER_POSE = new Pose2d(16.45, 5.5, null);
Expand All @@ -367,30 +371,32 @@ public static record VisionSource(String name, Transform3d robotToCamera) {}

public static final List<VisionSource> VISION_SOURCES =
List.of(
/*new VisionSource(
"frontCam",
new Transform3d(
new Translation3d(
-0.305, // front/back
-0.2286, // left/right
-0.2159 // up/down
),
new Rotation3d(
0,
Math.toRadians(30), // angle up/down
Math.toRadians(180)))),
new VisionSource(
"backCam",
new Transform3d(
new Translation3d(
-0.2796, // front/back
-0.2286, // left/right
-0.2159 // up/down
),
new Rotation3d(
0,
Math.toRadians(30), // angle up/down
Math.toRadians(180)))),*/
/*
* new VisionSource(
* "frontCam",
* new Transform3d(
* new Translation3d(
* -0.305, // front/back
* -0.2286, // left/right
* -0.2159 // up/down
* ),
* new Rotation3d(
* 0,
* Math.toRadians(30), // angle up/down
* Math.toRadians(180)))),
* new VisionSource(
* "backCam",
* new Transform3d(
* new Translation3d(
* -0.2796, // front/back
* -0.2286, // left/right
* -0.2159 // up/down
* ),
* new Rotation3d(
* 0,
* Math.toRadians(30), // angle up/down
* Math.toRadians(180)))),
*/
new VisionSource(
"backUpCam",
new Transform3d(
Expand Down Expand Up @@ -565,8 +571,25 @@ public static final class AutoAlign {
public static final double AMP_TARGET_ANGLE = 0;
public static final PathConstraints CONSTRAINTS =
new PathConstraints(3, 3, Units.degreesToRadians(540), Units.degreesToRadians(720));
}

public static class Elevator {
public static final class Ports {
public static final int ARM_MOTOR_PORT = 18;
public static final int ELEVATOR_MOTOR_PORT = 28;
}
public static class Elevator{ //Placeholder elevator constant (update as needed)
public static final double GEAR_RATIO = 0;
/** inches per rotation */
public static final double ELEVATOR_GEAR_RATIO = 0.0906065;
/** FIXME */
public static final double MAX_HEIGHT = 50;
/** FIXME */
public static final double ELEVATOR_FEEDFORWARD = 0.01;

public static final class Arm {
/** FIXME */
public static final double MAX_ANGLE = 50;
/** inches per rotation */
public static final double ARM_GEAR_RATIO = 0.0231481481;
}
}
}
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