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| package com.team254.frc2016; | |
| import com.team254.lib.util.ConstantsBase; | |
| import com.team254.lib.util.InterpolatingDouble; | |
| import com.team254.lib.util.InterpolatingTreeMap; | |
| import edu.wpi.first.wpilibj.Solenoid; | |
| /** | |
| * A list of constants used by the rest of the robot code. This include physics | |
| * constants as well as constants determined through calibrations. | |
| */ | |
| public class Constants extends ConstantsBase { | |
| public static double kCenterOfTargetHeight = 89.0; // inches | |
| // Pose of the turret frame w.r.t. the vehicle frame | |
| public static double kTurretXOffset = -7.376; | |
| public static double kTurretYOffset = 0.0; | |
| public static double kTurretAngleOffsetDegrees = 0.0; | |
| // Pose of the camera frame w.r.t. the turret frame | |
| public static double kCameraXOffset = -6.454; | |
| public static double kCameraYOffset = 0.0; | |
| public static double kCameraZOffset = 19.75; | |
| public static double kCameraPitchAngleDegrees = 35.75; // calibrated 4/22 | |
| public static double kCameraYawAngleDegrees = -1.0; | |
| public static double kCameraDeadband = 0.0; | |
| // Wheels | |
| public static double kDriveWheelDiameterInches = 7.3; // Measured on | |
| // 4/23/2016 | |
| public static double kTrackLengthInches = 8.265; | |
| public static double kTrackWidthInches = 23.8; | |
| public static double kTrackEffectiveDiameter = (kTrackWidthInches * kTrackWidthInches | |
| + kTrackLengthInches * kTrackLengthInches) / kTrackWidthInches; | |
| public static double kTrackScrubFactor = 0.5; | |
| // Drive constants | |
| public static double kDriveLowGearMaxSpeedInchesPerSec = 12.0 * 7.0; | |
| // Hood constants | |
| public static double kMinHoodAngle = 42.48; | |
| public static double kMaxHoodAngle = 71.42; | |
| public static double kBatterHoodAngle = 42.5; | |
| public static double kHoodNeutralAngle = 42.5; | |
| public static double kHoodMaxSafeAngle = 43.0; | |
| public static double kHoodOnTargetTolerance = 0.4; | |
| public static double kHoodGearReduction = 12.0 / 644.0; | |
| // Turret constants | |
| public static double kHardMaxTurretAngle = 109.5; | |
| public static double kHardMinTurretAngle = -116.5; | |
| public static double kSoftMaxTurretAngle = 108.0; | |
| public static double kSoftMinTurretAngle = -115.0; | |
| public static double kTurretSafeTolerance = 2.0; | |
| public static double kTurretOnTargetTolerance = 1.0; | |
| public static double kTurretRotationsPerTick = 14.0 / 50.0 * 14.0 / 322.0; | |
| // Flywheel constants | |
| public static double kFlywheelOnTargetTolerance = 100.0; | |
| public static double kFlywheelGoodBallRpmSetpoint = 6200.0; | |
| public static double kFlywheelBadBallRpmSetpoint = kFlywheelGoodBallRpmSetpoint; | |
| // Auto aiming/shooter constants | |
| public static double kAutoAimMinRange = 10.0; | |
| public static double kAutoAimMaxRange = 220.0; | |
| public static double kAutoShootMaxDriveSpeed = 18.0; | |
| public static double kAutoAimPredictionTime = 0.25; | |
| public static int kAutoAimMinConsecutiveCyclesOnTarget = 3; | |
| public static double kShootActuationTime = 0.75; | |
| public static double kHoodUnstowToFlywheelSpinTime = 0.4; | |
| public static double kLoadingTime = 0.5; | |
| public static double kStowingOverrideTime = 2.0; | |
| // Goal tracker constants | |
| public static double kMaxGoalTrackAge = 0.3; | |
| public static double kMaxTrackerDistance = 18.0; | |
| public static double kCameraFrameRate = 30.0; | |
| public static double kTrackReportComparatorStablityWeight = 1.0; | |
| public static double kTrackReportComparatorAgeWeight = 1.0; | |
| public static double kTrackReportComparatorSwitchingWeight = 3.0; | |
| public static double kTrackReportComparatorDistanceWeight = 2.0; // Unused | |
| public static int kAndroidAppTcpPort = 8254; | |
| public static double kLooperDt = 0.01; | |
| // CONTROL LOOP GAINS | |
| // PID gains for hood position loop | |
| // Units: error is degrees of hood rotation. Max output is +/- 1.0. | |
| // Loop runs at 100Hz | |
| public static double kHoodKp = 0.1; | |
| public static double kHoodKi = 0.0; | |
| public static double kHoodKd = 0.0; | |
| public static double kHoodDeadband = 0.3; // degrees | |
| // PID gains for drive velocity loop (LOW GEAR) | |
| // Units: error is 4096 counts/rev. Max output is +/- 1023 units. | |
| public static double kDriveVelocityKp = 1.0; | |
| public static double kDriveVelocityKi = 0.0; | |
| public static double kDriveVelocityKd = 6.0; | |
| public static double kDriveVelocityKf = 0.5; | |
| public static int kDriveVelocityIZone = 0; | |
| public static double kDriveVelocityRampRate = 0.0; | |
| public static int kDriveVelocityAllowableError = 0; | |
| // PID gains for drive base lock loop | |
| // Units: error is 4096 counts/rev. Max output is +/- 1023 units. | |
| public static double kDriveBaseLockKp = 0.5; | |
| public static double kDriveBaseLockKi = 0; | |
| public static double kDriveBaseLockKd = 0; | |
| public static double kDriveBaseLockKf = 0; | |
| public static int kDriveBaseLockIZone = 0; | |
| public static double kDriveBaseLockRampRate = 0; | |
| public static int kDriveBaseLockAllowableError = 10; | |
| // PID gains for constant heading velocity control | |
| // Units: Error is degrees. Output is inches/second difference to | |
| // left/right. | |
| public static double kDriveHeadingVelocityKp = 4.0; // 6.0; | |
| public static double kDriveHeadingVelocityKi = 0.0; | |
| public static double kDriveHeadingVelocityKd = 50.0; | |
| // Path following constants | |
| public static double kPathFollowingLookahead = 24.0; // inches | |
| public static double kPathFollowingMaxVel = 120.0; // inches/sec | |
| public static double kPathFollowingMaxAccel = 80.0; // inches/sec^2 | |
| // PID gains for turret position loop | |
| // Units: error is 4096 counts/rev. Max output is +/- 1023 units. | |
| public static double kTurretKp = 0.7; | |
| public static double kTurretKi = 0.0; | |
| public static double kTurretKd = 30.0; | |
| public static double kTurretKf = 0; | |
| public static int kTurretIZone = (int) (1023.0 / kTurretKp); | |
| public static double kTurretRampRate = 0; | |
| public static int kTurretAllowableError = 100; | |
| // PID gains for intake current loop | |
| // Units: error is mA. Max output is +/- 1023 units. | |
| public static double kIntakeTargetCurrent = 20.0; // Amps | |
| public static double kIntakeKp = 0.04; | |
| public static double kIntakeKi = 0.0; | |
| public static double kIntakeKd = 0.0; | |
| public static double kIntakeKf = 0.0175; | |
| public static int kIntakeIZone = (int) (1023.0 / kIntakeKp); | |
| public static double kIntakeRampRate = 0; | |
| public static int kIntakeAllowableError = 0; | |
| // PID gains for flywheel velocity loop | |
| // Units: error is (4096 counts/rev)/100ms. Max output is +/- 1023 units. | |
| public static double kFlywheelKp = 0.12; | |
| public static double kFlywheelKi = 0.0; | |
| public static double kFlywheelKd = 0.5; | |
| public static double kFlywheelKf = 0.014; | |
| public static int kFlywheelIZone = (int) (1023.0 / kFlywheelKp); | |
| public static double kFlywheelRampRate = 0; | |
| public static int kFlywheelAllowableError = 0; | |
| // Utility arm time delays, all in seconds | |
| public static double kUtilityArmDropTime = 0.7; | |
| public static double kUtilityArmRaiseTime = 0.8; | |
| public static double kUtilityArmHardStopsMoveForRaiseArmDelay = 0.5; | |
| // Do not change anything after this line! | |
| // Port assignments should match up with the spreadsheet here: | |
| // https://docs.google.com/spreadsheets/d/1O2Szvp3cC3gO2euKjqhdmpsyd54t6eB2t9jzo41G2H4 | |
| // Talons | |
| // (Note that if multiple talons are dedicated to a mechanism, any sensors | |
| // are attached to the master) | |
| // TALONS | |
| public static final int kTurretTalonId = 9; | |
| public static final int kLeftDriveMasterId = 11; | |
| public static final int kLeftDriveSlaveId = 12; | |
| public static final int kRightDriveMasterId = 4; | |
| public static final int kRightDriveSlaveId = 3; | |
| public static final int kShooterMasterId = 1; | |
| public static final int kShooterSlaveId = 2; | |
| public static final int kIntakeTalonId = 5; // 13 | |
| public static final int kFixedRollerTalonId = 8; // 14 | |
| public static final int kHoodRollerTalonId = 6; | |
| public static final int kHangerMasterTalonId = 13; // 5 | |
| public static final int kHangerSlaveTalonId = 14; // 7 | |
| // SOLENOIDS | |
| public static final int kShifterSolenoidId = 11; // PCM 1, Solenoid 3 | |
| public static final int kHoodStowSolenoidId = 1; // PCM 0, Solenoid 1 | |
| public static final int kIntakeSolenoidId = 10; // PCM 1, Solenoid 2 | |
| public static final int kShooterSolenoidId = 0; // PCM 0, Solenoid 0 | |
| public static final int kArmLiftSolenoidId = 9; // PCM 1, Solenoid 1 | |
| public static final int kAdjustableHardStopSolenoidId = 2; // PCM 0, | |
| // Solenoid 2 | |
| public static final int kBrakeSolenoidId = 3; // PCM 0, Solenoid 3 | |
| public static final int kHookReleaseSolenoidId = 4; // PCM 0, Solenoid 4 | |
| // Analog Inputs | |
| public static int kHaveBallSensorAnalogId = 1; | |
| public static int kBallReadyAnalogId = 2; | |
| /** | |
| * Make an {@link Solenoid} instance for the single-number ID of the | |
| * solenoid | |
| * | |
| * @param solenoidId | |
| * One of the kXyzSolenoidId constants | |
| */ | |
| public static Solenoid makeSolenoidForId(int solenoidId) { | |
| return new Solenoid(solenoidId / 8, solenoidId % 8); | |
| } | |
| // DIGITAL IO | |
| public static final int kHoodEncoderDIO = 9; | |
| public static final int kLineSensor1DIO = 1; | |
| public static final int kLineSensor2DIO = 2; | |
| // PWM | |
| public static final int kSensorSideServoPWM = 0; | |
| public static final int kOppositeSideServoPWM = 1; | |
| public static final int kSneakyServoPWM = 3; | |
| public static final int kTestServoPWM = 9; | |
| @Override | |
| public String getFileLocation() { | |
| return "~/constants.txt"; | |
| } | |
| // Shooter Operational consts | |
| public static final double kOldBallHoodAdjustment = 2.4; | |
| public static final double kNewBallHoodAdjustment = 0.7; | |
| public static InterpolatingTreeMap<InterpolatingDouble, InterpolatingDouble> kHoodAutoAimMap = new InterpolatingTreeMap<>(); | |
| static { | |
| /* Tune 4/23 with 6200 rpm setpoint */ | |
| kHoodAutoAimMap.put(new InterpolatingDouble(60.0), new InterpolatingDouble(42.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(70.0), new InterpolatingDouble(44.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(75.0), new InterpolatingDouble(46.8)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(80.0), new InterpolatingDouble(48.0)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(85.0), new InterpolatingDouble(49.0)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(90.0), new InterpolatingDouble(50.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(100.0), new InterpolatingDouble(52.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(110.0), new InterpolatingDouble(54.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(120.0), new InterpolatingDouble(56.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(130.0), new InterpolatingDouble(57.8)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(140.0), new InterpolatingDouble(59.0)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(150.0), new InterpolatingDouble(59.8)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(160.0), new InterpolatingDouble(60.5)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(170.0), new InterpolatingDouble(61.0)); | |
| kHoodAutoAimMap.put(new InterpolatingDouble(180.0), new InterpolatingDouble(61.5)); | |
| } | |
| public static InterpolatingTreeMap<InterpolatingDouble, InterpolatingDouble> kFlywheelAutoAimMap = new InterpolatingTreeMap<>(); | |
| static { | |
| kFlywheelAutoAimMap.put(new InterpolatingDouble(75.0), | |
| new InterpolatingDouble(Constants.kFlywheelGoodBallRpmSetpoint)); | |
| kFlywheelAutoAimMap.put(new InterpolatingDouble(Constants.kAutoAimMaxRange), | |
| new InterpolatingDouble(Constants.kFlywheelGoodBallRpmSetpoint)); | |
| } | |
| static { | |
| new Constants().loadFromFile(); | |
| } | |
| } |