150 lines
6.2 KiB
Java
150 lines
6.2 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 enum RobotStatus{
|
||
Stopped,
|
||
AllTelop,
|
||
PassingBall,
|
||
AutoAimming,
|
||
Climbing,
|
||
CrossingBump,
|
||
CrossingTrench
|
||
}
|
||
public class Shooter {
|
||
public static final double conveyorSpeed =25;
|
||
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
|
||
.withKP(0.0).withKI(0).withKD(0)
|
||
.withKV(0.099).withKA(0.0).withKS(0.0);
|
||
|
||
public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
|
||
.withKP(0.0).withKI(0).withKD(0)
|
||
.withKV(0.16).withKA(0.15).withKS(0);
|
||
|
||
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
|
||
.withKP(0.01).withKI(0).withKD(0)
|
||
.withKV(0.03).withKA(0.0).withKS(0.010);
|
||
|
||
public class backboardPositionPID {
|
||
public static final double kP = 0.3;
|
||
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 AutoPositioning {
|
||
public static final double autoRotationkP = 0.1;
|
||
public static final double autoRotationForBumpTargetDegrees = 45;
|
||
public static final double autoRotationForTrenchTargetDegrees = 0;
|
||
public static final boolean teleopOffsetEnabled = true;
|
||
public static final double teleopOffsetkP = 15;
|
||
|
||
public static final double autoPositioningkP = 1.0;
|
||
public static final double autoPositioningAngleError = 1.0; // 角度误差容忍度，单位为度
|
||
|
||
public static final double[] bumpY = {2.51,5.556};
|
||
public static final double[] trenchY = {0.639,7.43};
|
||
|
||
public static final double TrenchtargetAngle = 0;
|
||
public static final double TurningkP = 1.5;
|
||
}
|
||
|
||
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 static final int climbPipelineIndex = 8;
|
||
public static final int locatePipelineIndex = 0;
|
||
public static final double AutoClimbAlignSpeed = 0.5;//等查资料
|
||
public static final double AutoClimbAlignTolerance = 0.1;//？
|
||
public static final double AutoClimbmaxAngularVelocity = 0.5;//等查资料
|
||
}
|
||
|
||
public class Field {
|
||
public static final double RedHubPositionX = 11.914;
|
||
public static final double RedHubPositionY = 4.034;
|
||
public static final double BlueHubPositionX = 4.625;
|
||
public static final double BlueHubPositionY = 4.034;
|
||
public static final double PassingBallPosY1 = 1.405;
|
||
public static final double PassingBallPosY2 = 6.664;
|
||
public static final double RedPassingBallPosX = 13.355;
|
||
public static final double BluePassingBallPosX = 3.184;
|
||
}
|
||
|
||
|
||
public class Intaker {
|
||
|
||
public static final double intakeRotaterUpLimit = 0.0; // rotator上限角度
|
||
public static final double intakeRotaterDownLimit = -7.6; // rotator下限角度
|
||
public static final double intakeRotaterVelocity = 5; // rotater的速度（如果你用速度控制的话）
|
||
public static final double IntakeRotaterGravityFF = 0.0; // 重力前馈增益（需要实测调整）
|
||
|
||
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 IntakeGetterSpeedforAuto = 0.4;
|
||
// 单位RPS
|
||
public static final double positionToleranceRotations = 0.00;
|
||
//rotater容差
|
||
public static final double IntakeGetterK = 0.3; // intake getter速度与触发器输入的比例
|
||
public static final double Getterminspeed = 0.3; // intake getter的基础速度（即触发器输入为0时的速度，正值表示默认向内转）
|
||
}
|
||
public static class Climber {
|
||
|
||
public static final int motorID = 49;
|
||
|
||
public static final boolean inverted = false;
|
||
|
||
public static double climbUpTicks = 94; // TODO: 实测后调整
|
||
public static double climbDownTicks = 0; // TODO: 实测后调整
|
||
public static final double climbVelocity = -200;
|
||
public static final double holdToleranceRot = 0.5;
|
||
public static final double deltaDownTicks = 1;
|
||
|
||
public static final Slot0Configs slot0Configs = new Slot0Configs();
|
||
|
||
static {
|
||
// TODO: PID/F 值你们实测后填
|
||
slot0Configs.kP = 0.2;
|
||
slot0Configs.kI = 0.0;
|
||
slot0Configs.kD = 0.0;
|
||
|
||
// TODO: 如果要前馈（速度闭环一般建议有 kV）
|
||
slot0Configs.kS = 0.0;
|
||
slot0Configs.kV = 0.1;
|
||
slot0Configs.kA = 0.0;
|
||
}
|
||
}
|
||
} |