2020Robot/src/main/java/frc/robot/Constants.java at db9ad656b689f0c1b5bd23dc5c10763680464685 · team751/2020Robot · GitHub

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/*----------------------------------------------------------------------------*/
/* 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 com.revrobotics.CANSparkMax.IdleMode;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj2.command.button.Button;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.core751.subsystems.DifferentialDriveTrain;
import frc.robot.core751.subsystems.DifferentialDriveTrain.driveMotor;
import frc.robot.core751.wrappers.OverrideableJoystick;


/**
 * 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 enum Controller { // Button mappings for the XBOX One controller
        A(1), B(2), X(3), Y(4), LB(5), RB(6), LT(2), // Must use .getRawAxis()
        RT(3), // Must use .getRaxAxis()
        BACK(7), START(8), LEFT_AXIS_PRESS(9), // X-Axis: -1.000 to 1.000 (stick.GetX())
                                               // Y-Axis: -1.000 to 1.000 (stick.GetY())
        RIGHT_AXIS_PRESS(10);

        private int buttonNum;

        private Controller(int value) {
            this.buttonNum = value;
        }

        public int getButtonMapping() {
            return this.buttonNum;
        }

    }

    public static OverrideableJoystick driverStick = new OverrideableJoystick(Constants.driveStickPort);

      /*================================/
     /===========Drive Train===========/
    /================================*/
    public static int leftDrivetrainIDs[] = new int[] { 1, 2, 3 };
    public static int rightDrivetrainIDs[] = new int[] { 4, 5, 6 };
    public static DifferentialDriveTrain.SmartControllerProfile driveMotorProfile= new DifferentialDriveTrain.SmartControllerProfile(IdleMode.kCoast, 0.25, 35);
    public static DifferentialDriveTrain.driveMotor driveTrainMotorType = driveMotor.kSparkMaxBrushless;
    public static boolean driveInvertLeft = true;
    public static boolean driveInvertRight = false;

    public static double simpleDriveAutonLengthSeconds = 1.75;
    public static double simpleBallAutonLengthSeconds = 5;

    public static double maxSparkDeccelPeriod = 1;//0.5;
    public static double sparkDeccelThreshold = 0.5;
    public static int sparkDeccelSteps = 14;//7;
    public static double minPauseDeaccelThreshold = 0.5;

    public static int driveStickPort = 0;
    public static Button driveSwitchDirectionButton = new JoystickButton(driverStick, Controller.START.buttonNum);

      /*================================/
     /===========Ball==================/
    /================================*/
    public static int ballIntakeMotorID = 7;
    public static int ballPolycordMotorID = 8;
    public static int ballOutakeMotorID = 9;

    public static double polycordGracePeriod = 0; // in seconds

    public static int ballLBumper = Controller.LB.buttonNum;
    public static int ballRBumper = Controller.RB.buttonNum;
    public static int ballOutButton = Controller.A.buttonNum;
    public static int ballReverseOutButton = Controller.BACK.buttonNum;

      /*================================/
     /===========Panel=================/
    /================================*/
    public static int panelRotateID = 10;
    public static int panelSpinID = 11;

    public static int panelBottomLimitPort = 0;
    public static int panelTopLimitPort = 1;

    public static Port leftColorsensorPort = Port.kOnboard;
    public static Port rightColorsensorPort = Port.kMXP;

    public static float proximityThreshhold = 200;

    public static int leftTrigger = 2;
    public static int rightTrigger = 3;

    public static Button panelToggleButton = new JoystickButton(driverStick, Controller.Y.buttonNum);


    // Robot-specific PIDTrajectory constants
    public static double trackWidthMeters = 0.0762; // horizontal distance between the wheels
                                                    // (2019 robot = 0.0762 meters (3 inches))
    public static double maxPIDTrajectoryDriveVolts;
    public static double maxPIDTrajectoryDriveAcceleration; // m/sec^2
    public static double ksVolts;
    public static double kvVoltSecondsPerMeter;
    public static double kaVoltSecondsSquaredPerMeter;
    public static double kPDriveVel;

    // Universal PIDTrajectory constants
    public static double ramseteB = 2;
    public static double ramseteZeta = 0.7;
}