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Merge branch '2025SlimShadyPorts' of https://github.com/DeepBlueRobot…
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…ics/RobotCode2024 into 2025SlimShadyPorts
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@DeepBlueRobots
DeepBlueRobots committed Oct 25, 2024
2 parents 7c8fd88 + 6fbf25f commit 328a1b3
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Showing 3 changed files with 186 additions and 159 deletions.
112 changes: 67 additions & 45 deletions src/main/java/org/carlmontrobotics/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -36,12 +36,13 @@
*/
public final class Constants {
public static final double g = 9.81; // meters per second squared

public static final class Led {

public static final Color8Bit DEFAULT_COLOR_BLUE = new Color8Bit(0, 0, 200);
public static final Color8Bit DETECT_NOTE_YELLOW = new Color8Bit(255, 255, 0);
public static final Color8Bit HOLDING_GREEN = new Color8Bit(0, 250, 0);
public static final Color8Bit RED_NEO_550_MOTOR = new Color8Bit(255,0,0);
public static final Color8Bit RED_NEO_550_MOTOR = new Color8Bit(255, 0, 0);
public static final int ledPort = 0;
// TODO: figure out how to get port of LED, it could be 0 or
}
Expand All @@ -55,17 +56,19 @@ public static final class Effectorc {
// 0.0001184

/*
* public static final double kP = 0.0001067; public static final double kI = 0; public
* static final double kD = 0; public static final double kS = 0; public static final double
* public static final double kP = 0.0001067; public static final double kI = 0;
* public
* static final double kD = 0; public static final double kS = 0; public static
* final double
* kV = 0.11124; public static final double kA = 0.039757;
*/

public static final double[] kP = {0, 0.0001067};
public static final double[] kP = { 0, 0.0001067 };
public static final double[] kI = { /* /Intake/ */0, /* /Outake/ */0 };
public static final double[] kD = { /* /Intake/ */0, /* /Outake/ */0 };
public static final double[] kS = { /* /Intake/ */0.22, /* /Outake/ */0.29753 * 2 };
public static final double[] kV = {0.122, 0.11124};
public static final double[] kA = {0, 0.039757};
public static final double[] kV = { 0.122, 0.11124 };
public static final double[] kA = { 0, 0.039757 };
public static final int INTAKE_PORT = 30; // port
public static final int OUTTAKE_PORT = 31; // port
public static final int INTAKE_DISTANCE_SENSOR_PORT = 11; // port correspnds with intake
Expand All @@ -85,7 +88,7 @@ public static final class Effectorc {
public static final double PODIUM_RPM = 4000;
public static final double SPEAKER_RPM = 2100;
// WTF FAB ISSUE
//public static final double SAFE_RPM = 6000;// WTF FAB ISSUE
// public static final double SAFE_RPM = 6000;// WTF FAB ISSUE

public static final double EJECT_RPM_INTAKE = -2550;
public static final double EJECT_RPM_OUTAKE = -2550;
Expand Down Expand Up @@ -141,7 +144,8 @@ public static final class Armc {

public static final double SUBWOOFER_ANGLE_RAD = -0.22;// touching the base of the speaker
public static final double SAFE_ZONE_ANGLE_RAD = Units.degreesToRadians(36);// touching the white line
//public static final double PODIUM_ANGLE_RAD = Units.degreesToRadians(40);// touching the safe pad on the stage
// public static final double PODIUM_ANGLE_RAD = Units.degreesToRadians(40);//
// touching the safe pad on the stage

// 0.4 rad for shooting at podium

Expand All @@ -163,15 +167,14 @@ public static final class Armc {

public static final double MAX_FF_VEL_RAD_P_S_BABY = 0;
public static final double MAX_FF_ACCEL_RAD_P_S_BABY = 0;
//TODO: determine these values^

// TODO: determine these values^

public static final double SOFT_LIMIT_LOCATION_IN_RADIANS = 0;
public static final double CLIMB_POS = 1.701; //RADIANS
public static final double CLIMB_POS = 1.701; // RADIANS
public static final double MIN_VOLTAGE = -0.5; // -((kS + kG + 1)/12);
public static final double MAX_VOLTAGE = 0.5; // (kS + kG + 1)/12;
public static final double MIN_VOLTAGE_BABY = MIN_VOLTAGE/12 *0.7;
public static final double MAX_VOLTAGE_BABY = MAX_VOLTAGE/12*0.7;
public static final double MIN_VOLTAGE_BABY = MIN_VOLTAGE / 12 * 0.7;
public static final double MAX_VOLTAGE_BABY = MAX_VOLTAGE / 12 * 0.7;
public static final double CLIMB_FINISH_POS = -0.38;
// if needed
public static final double COM_ARM_LENGTH_METERS = 0.381;
Expand All @@ -184,9 +187,9 @@ public static final class Armc {

// Boundaries
public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 1.8345; // placeholder
public static final double POS_TOLERANCE_RAD =
Units.degreesToRadians(5); // placeholder //Whether or not this is the actual
// account
public static final double POS_TOLERANCE_RAD = Units.degreesToRadians(5); // placeholder //Whether or not this
// is the actual
// account
// idk TODO: test on actual encoder without a conversion
// factor
public static final double VEL_TOLERANCE_RAD_P_SEC = (POS_TOLERANCE_RAD / 0.02); // 20ms per robot loop
Expand All @@ -199,7 +202,6 @@ public static final class Armc {

public static final double DISCONNECTED_ENCODER_TIMEOUT_SEC = 0.5;
public static final double SMART_CURRENT_LIMIT_TIMEOUT = 0.8;


public static final int NEO_BUILTIN_ENCODER_CPR = 42; /*
* counts per rotation -
Expand Down Expand Up @@ -253,48 +255,70 @@ public static final class Drivetrainc {
public static final boolean[] reversed = { false, false, false, false };
// public static final boolean[] reversed = {true, true, true, true};
// Determine correct turnZero constants (FL, FR, BL, BR)
public static final double[] turnZeroDeg = RobotBase.isSimulation() ? new double[] {-90.0, -90.0, -90.0, -90.0 }
public static final double[] turnZeroDeg = RobotBase.isSimulation()
? new double[] { -90.0, -90.0, -90.0, -90.0 }
: (CONFIG.isSwimShady() ? new double[] { 85.7812, 85.0782, -96.9433, -162.9492 }
: new double[] { -48.6914, 63.3691, 94.1309, -6.7676 });/* real values here */

// kP, kI, and kD constants for turn motor controllers in the order of
// front-left, front-right, back-left, back-right.
// Determine correct turn PID constants
public static final double[] turnkP = { 51.078, 60.885, 60.946, 60.986 }; // {0.00374, 0.00374, 0.00374,
// 0.00374};
public static final double[] turnkP = CONFIG.isSwimShady()
? new double[] { 0.00374 * 350, 0.00374 * 350, 0.00374 * 350,
0.00374 * 350 }
: new double[] { 51.078, 60.885, 60.946, 60.986 };
public static final double[] turnkI = { 0, 0, 0, 0 };
public static final double[] turnkD = { 0/* dont edit */, 0.5, 0.42, 1 }; // todo: use d
public static final double[] turnkD = CONFIG.isSwimShady() ? new double[] { 0, 0, 0, 0 }
: new double[] { 0/* dont edit */, 0.5, 0.42, 1 }; // todo: use d
// public static final double[] turnkS = {0.2, 0.2, 0.2, 0.2};
public static final double[] turnkS = { 0.13027, 0.17026, 0.2, 0.23262 };
public static final double[] turnkS = CONFIG.isSwimShady() ? new double[] { 0.2, 0.2, 0.2, 0.2 }
: new double[] { 0.13027, 0.17026, 0.2, 0.23262 };

// V = kS + kV * v + kA * a
// 12 = 0.2 + 0.00463 * v
// v = (12 - 0.2) / 0.00463 = 2548.596 degrees/s
// public static final double[] turnkV = { 2.6532, 2.7597, 2.7445, 2.7698 };
public static final double[] turnkV = { 0.00463, 0.00463, 0.00463, 0.00463 }; // swimshady
public static final double[] turnkA = { 0.000115, 0.000115, 0.000115, 0.000115 }; // swimshady
public static final double[] turnkV = CONFIG.isSwimShady()
? new double[] { 0.00463, 0.00463, 0.00463, 0.00463 }
: new double[] { 2.6532, 2.7597, 2.7445, 2.7698 };
public static final double[] turnkA = CONFIG.isSwimShady()
? new double[] { 0.000115, 0.000115, 0.000115, 0.000115 }
: new double[] { 0.17924, 0.17924, 0.17924, 0.17924 };

// kP is an average of the forward and backward kP values
// Forward: 1.72, 1.71, 1.92, 1.94
// Backward: 1.92, 1.92, 2.11, 1.89
// Order of modules: (FL, FR, BL, BR)
public static final double[] drivekP = CONFIG.isSwimShady() ? new double[] { 2.8, 2.8, 2.8, 2.8 }
public static final double[] drivekP = CONFIG.isSwimShady()
? new double[] { 2.8 / 6, 2.8 / 6, 2.8 / 6, 2.8 / 6 }
: new double[] { 1.75, 1.75, 1.75, .75 }; // {1.82/100, 1.815/100, 2.015/100,
// 1.915/100};
// 1.915/100};
public static final double[] drivekI = { 0, 0, 0, 0 };
public static final double[] drivekD = { 0, 0, 0, 0 };
public static final boolean[] driveInversion = (CONFIG.isSwimShady()
? new boolean[] { false, false, false, false }
: new boolean[] { true, false, true, false });
public static final boolean[] turnInversion = { true, true, true, true };
// kS
public static final double[] kForwardVolts = { 0.26744, 0.31897, 0.27967, 0.2461 };
public static final double[] kBackwardVolts = kForwardVolts;

public static final double[] kForwardVels = { 2.81, 2.9098, 2.8378, 2.7391 };
public static final double[] kBackwardVels = kForwardVels;
public static final double[] kForwardAccels = { 1.1047 / 2, 0.79422 / 2, 0.77114 / 2, 1.1003 / 2 };
public static final double[] kBackwardAccels = kForwardAccels;
public static final double[] kForwardVolts = CONFIG.isSwimShady() ? new double[] { 0.129, 0.108, 0.14, 0.125 }
: new double[] { 0.26744, 0.31897, 0.27967, 0.2461 };
public static final double[] kBackwardVolts = CONFIG.isSwimShady() ? new double[] { 0.115, 0.169, 0.13, 0.148 }
: kForwardVolts;

public static final double[] kForwardVels = CONFIG.isSwimShady()
? new double[] { 2.910 / 1.1, 2.970 / 1.1, 2.890 / 1.1,
2.930 / 1.1 }
: new double[] { 2.81, 2.9098, 2.8378, 2.7391 };
public static final double[] kBackwardVels = CONFIG.isSwimShady()
? new double[] { 2.890 / 1.1, 2.800 / 1.1, 2.850 / 1.1,
2.820 / 1.1 }
: kForwardVels;
public static final double[] kForwardAccels = CONFIG.isSwimShady() ? new double[] { 0.145, 0.149, 0.192, 0.198 }
: new double[] { 1.1047 / 2, 0.79422 / 2, 0.77114 / 2,
1.1003 / 2 };
public static final double[] kBackwardAccels = CONFIG.isSwimShady()
? new double[] { 0.192, 0.187, 0.264, 0.176 }
: kForwardAccels;

public static final double autoMaxSpeedMps = 0.35 * 4.4; // Meters / second
public static final double autoMaxAccelMps2 = mu * g; // Meters / seconds^2
Expand All @@ -311,7 +335,7 @@ public static final class Drivetrainc {
: new double[] { 2, 0.0, 0.0 };
public static final double[] yPIDController = xPIDController;
public static final double[] thetaPIDController = CONFIG.isSwimShady() ? new double[] { 0.10, 0.0, 0.001 }
: new double[] {0.05, 0.0, 0.00};
: new double[] { 0.05, 0.0, 0.00 };

public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu,
autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels,
Expand All @@ -336,8 +360,8 @@ public static final class Drivetrainc {
public static final int turnBackRightPort = 14; // correct

public static final int canCoderPortFL = CONFIG.isSwimShady() ? 1 : 0;
public static final int canCoderPortFR = CONFIG.isSwimShady() ? 3 : 3;
public static final int canCoderPortBL = CONFIG.isSwimShady() ? 2 : 2;
public static final int canCoderPortFR = CONFIG.isSwimShady() ? 2 : 3;
public static final int canCoderPortBL = CONFIG.isSwimShady() ? 3 : 2;
public static final int canCoderPortBR = CONFIG.isSwimShady() ? 4 : 1;

// #endregion
Expand All @@ -349,7 +373,8 @@ public static final class Drivetrainc {
public static double kSlowDriveSpeed = 0.4; // Percent Multiplier
public static double kSlowDriveRotation = 0.250; // Percent Multiplier

//baby speed values, i just guessed the percent multiplier. TODO: find actual ones we wana use
// baby speed values, i just guessed the percent multiplier. TODO: find actual
// ones we wana use
public static double kBabyDriveSpeed = 0.3;
public static double kBabyDriveRotation = 0.2;
public static double kAlignMultiplier = 1D / 3D;
Expand Down Expand Up @@ -411,8 +436,7 @@ public static final class Limelightc {
public static final double MOUNT_ANGLE_DEG_SHOOTER = 55.446;
public static final double MOUNT_ANGLE_DEG_INTAKE = -29;
public static final double HEIGHT_FROM_GROUND_METERS_SHOOTER = Units.inchesToMeters(8.891);
public static final double HEIGHT_FROM_GROUND_METERS_INTAKE =
Units.inchesToMeters(13);
public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(13);
public static final double ARM_TO_OUTTAKE_OFFSET_DEG = 115; // unused
public static final double NOTE_HEIGHT = Units.inchesToMeters(2); // unused
public static final double MIN_MOVEMENT_METERSPSEC = 1.5;
Expand All @@ -421,6 +445,7 @@ public static final class Limelightc {
public static final double SIDEWAYS_OFFSET_TO_OUTTAKE_MOUTH = Units.inchesToMeters(10.911);
public static final double END_EFFECTOR_BASE_ANGLE_RADS = Units.degreesToRadians(75);
public static final double VERTICAL_OFFSET_FROM_ARM_PIVOT = Units.inchesToMeters(3.65); // unused

public static final class Apriltag {
public static final int RED_SPEAKER_CENTER_TAG_ID = 4;
public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7;
Expand Down Expand Up @@ -463,19 +488,16 @@ public static final class Manipulator {
public static final Axis AMP_AX = Axis.kLeftTrigger;
public static final int SPEAKER_POS = Button.kX.value;
public static final int ARM_TO_AMP_BUTTON = Button.kY.value;
public static final int PASS_TO_OUTTAKE_STICK =
Button.kLeftStick.value;
public static final int PASS_TO_INTAKE_STICK =
Button.kRightStick.value;
public static final int PASS_TO_OUTTAKE_STICK = Button.kLeftStick.value;
public static final int PASS_TO_INTAKE_STICK = Button.kRightStick.value;
public static final int UP_D_PAD = 0;
public static final int DOWN_D_PAD = 180;
public static final int LEFT_D_PAD = 270;

public static final int A_BUTTON = Button.kA.value;
public static final int RAMP_OUTTAKE = Button.kB.value;
}


public static final double JOY_THRESH = 0.01;
public static final double MIN_AXIS_TRIGGER_VALUE = 0.2;// woah, this is high.

Expand Down
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