Dreadbots2026/src/main/java/frc/robot/Constants.java at a3675ea7d2c93730df48b0064816aa6b2d65a946 · Dreadbot/Dreadbots2026 · GitHub

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package frc.robot;

import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.math.util.Units;

public class Constants {
    public static final Mode simMode = Mode.SIM;
    public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;

    public static enum Mode {
        REAL,

        SIM,

        REPLAY
    }

    public static class IndexerConstants {
        public static final double INTAKE_VOLTAGE = 1.5;
        public static final double OUTAKE_VOLTAGE = -5.0;
        public static final int MOTOR_ID = 1;
    }

    public static class FlywheelConstants {
        public static final double SHOOT_VOLTAGE = 3.0;
        public static final int MOTOR_ID_1 = 13;
        public static final int MOTOR_ID_2 = 14;
    }

    public static class ClimbConstants {
        public static final double INTAKE_VOLTAGE = 1.5;
        public static final double OUTAKE_VOLTAGE = -1.5;
        public static final int MOTOR_ID = 1;
    }

    public static final class AutoAlignConstants {
        public static final double TRANSLATION_KP = 0.5;
        public static final double TRANSLATION_KD = 0.0;
        public static final double TRANSLATION_VELOCITY = 3.5; // Meters/Sec
        public static final double TRANSLATION_ACCELERATION = 3.5; // Meters/Sec^2
        public static final double TRANSLATION_JERK = 3.0; // Meters/Sec^3
        public static final double ROTATION_KP = 2.0;
        public static final double ROTATION_KD = 0.0;
        public static final double ROTATION_MAX_VELOCITY = 5.0;
        public static final double ROTATION_MAX_ACCELERATION = 10.0;
        public static final double LEFT_REEF_BRANCH_OFFSET = Units.inchesToMeters(11.5 / 2.0);
        public static final double RIGHT_REEF_BRANCH_OFFSET = Units.inchesToMeters(13.5 / 2.0);
    }
}