100 lines
4.0 KiB
Java
100 lines
4.0 KiB
Java
package frc.robot;
|
|
|
|
import com.ctre.phoenix6.configs.Slot0Configs;
|
|
import edu.wpi.first.math.geometry.Pose2d;
|
|
|
|
public final class Constants {
|
|
public static final boolean LEDUsing = false;
|
|
public class Shooter {
|
|
public static final double conveyorSpeed = 20;
|
|
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
|
|
.withKP(0.0).withKI(0).withKD(0)
|
|
.withKV(0.1).withKA(0.0).withKS(0.15);
|
|
|
|
public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
|
|
.withKP(0.0).withKI(0).withKD(0)
|
|
.withKV(0.02).withKA(0.15).withKS(0);
|
|
|
|
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
|
|
.withKP(0.01).withKI(0).withKD(0)
|
|
.withKV(0.008).withKA(0.0).withKS(0.010);
|
|
|
|
public class backboardPositionPID {
|
|
public static final double kP = 0.1;
|
|
public static final double kI = 0.0;
|
|
public static final double kD = 0.0;
|
|
|
|
}
|
|
public static final double backboardSpeedMax = 60; //也就是output
|
|
// 背板的上下限位角度
|
|
public static final double backboardUpLimit = 3000.0; // 背板上限角度（根据实际需求设置）
|
|
public static final double backboardDownLimit = 0.0; // 背板下限角度（根据实际需求设置）
|
|
}
|
|
public class ShooterCalculation{
|
|
public static final double positionNear = 0; // 近距离背板角度
|
|
public static final double positionMid = 1600; // 中距离背板角度
|
|
public static final double postionFar = 3200; // 远距离背板角度
|
|
}
|
|
public class AutoRotation {
|
|
public static final boolean autoRotationToHubEnabled = true;
|
|
public static final double autoRotationToHubkP = 0.12;
|
|
public static final boolean autoRotationForBump = false;
|
|
public static final double autoRotationForBumpkP = 0.2;
|
|
public static final double autoRotationForBumpTargetDegrees = 45;
|
|
|
|
public static final boolean teleopOffsetEnabled = true;
|
|
public static final double teleopOffsetkP = 15;
|
|
}
|
|
|
|
public class StartingPoints{
|
|
public class Red{
|
|
public static final Pose2d Point1 = new Pose2d(12.93, 7.47, edu.wpi.first.math.geometry.Rotation2d.fromDegrees(0));
|
|
public static final Pose2d Point2 = new Pose2d(14.314, 4.15, edu.wpi.first.math.geometry.Rotation2d.fromDegrees(-180));
|
|
}
|
|
|
|
}
|
|
|
|
public enum DriveMode {
|
|
ROBOT_CENTRIC,
|
|
FIELD_CENTRIC,
|
|
SYSID,
|
|
OTHER
|
|
}
|
|
public class Pigeon {
|
|
public static final int CANID = 0;
|
|
}
|
|
|
|
public class Limelight {
|
|
public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
|
|
public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
|
|
public static final Boolean UsingMetaTag2 = true;
|
|
}
|
|
|
|
public class Field {
|
|
public static final double RedHubPositionX = 11.914;
|
|
public static final double RedHubPositionY = 4.034;
|
|
|
|
}
|
|
|
|
public class Intaker {
|
|
|
|
public static final double intakeRotaterUpLimit = 0.0; // rotator上限角度
|
|
public static final double intakeRotaterDownLimit = 0.0; // rotator下限角度
|
|
|
|
public static final Slot0Configs intakeGetterSlot0Configs = new Slot0Configs()
|
|
.withKP(0.00).withKI(0.00).withKD(0.00)
|
|
.withKV(0.00).withKA(0.00).withKS(0.00);
|
|
// getter 如果你只用固定速度开关，也可以先不启闭环；若用闭环速度，这里 kP/kV/KS 等需要实测调参(这句fromAI)
|
|
|
|
public static final Slot0Configs intakeRotaterSlot0Configs = new Slot0Configs()
|
|
.withKP(0.00).withKI(0.00).withKD(0.00)
|
|
.withKV(0.00).withKA(0.00).withKS(0.00);
|
|
//如果 rotater 受重力影响明显，可能需要用 withKG/withGravityType/withGravityArmPositionOffset（看机构形式）(这句fromAI)
|
|
|
|
public static final double IntakeGetterSpeed = 0.0;
|
|
// 单位RPS
|
|
public static final double positionToleranceRotations = 0.00;
|
|
//rotater容差
|
|
}
|
|
|
|
} |