// Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. /* hi hello this is for future me can ids 1-12 and 17 are taken up thus far 13 the intake motor, 14 the arm, 15 the feeder, 16 the first shooter motor, and 18 the second shooter motor */ package frc.robot; import edu.wpi.first.math.util.Units; import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkFlexConfig; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.geometry.Rectangle2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import frc.robot.math.PolynomialRegression; import swervelib.math.Matter; /** * 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. * *

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 static final double ROBOT_MASS = (50) * 0.453592; // 32lbs * kg per pound HI HELLO FUTURE ME I HAVE TO CHANGE THIS THANK YOU public static final Matter CHASSIS = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS); public static final double LOOP_TIME = 0.13; //s, 20ms + 110ms sprk max velocity lag public static final double MAX_SPEED = Units.feetToMeters(17); public static final Rectangle2d ROBOT_PERIMETER = new Rectangle2d(new Translation2d(), new Translation2d(Units.inchesToMeters(27), Units.inchesToMeters(27))); public static final double BUMPER_RADIUS = Units.inchesToMeters(3); public static final double ROBOTFULLRADIUS = (Math.sqrt(Math.pow(ROBOT_PERIMETER.getXWidth(), 2) + Math.pow(ROBOT_PERIMETER.getYWidth(), 2))/2)+BUMPER_RADIUS; // Maximum speed of the robot in meters per second, used to limit acceleration. // public static final class AutonConstants // { // // public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0, 0); // public static final PIDConstants ANGLE_PID = new PIDConstants(0.4, 0, 0.01); // } public static final class Shooter { public static final int MOTOR_ID = 16; public static final int MOTOR_IDSLAVE = 18; public static final SparkFlexConfig MOTORCONFIG = new SparkFlexConfig(); static { MOTORCONFIG .idleMode(IdleMode.kCoast) .smartCurrentLimit(20); MOTORCONFIG.closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) // These are example gains you may need to them for your own robot! .pid(0, 0, 0)//(0.0001, 0.000001, 0.01) .outputRange(-1, 1); // Enable PID wrap around for the turning motor. This will allow the PID // controller to go through 0 to get to the setpoint i.e. going from 350 degrees // to 10 degrees will go through 0 rather than the other direction which is a // longer route. MOTORCONFIG.closedLoop.feedForward .kV(0.004); // UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED UNTESTED } public static final double ASFASTASSAFERPM = 3000; // fast as safe public static final double ABSMINDISTANCE = 90; //cm public static final double ABSMAXDISTANCE = 130; //cm public static final double MINDISTANCEFOR80P = 100; //cm public static final double MAXDISTANCEFOR80P = 120; //cm public static final PolynomialRegression kFlywheelAutoAimPolynomial; public static final double[][] kFlywheelDistanceRpmValues = { // placeholder for now but should be in the format of {meters from center of hub, rpm that hits there} { 0.90, 2890.0 }, { 0.95, 2940.0 }, { 1.00, 2990.0 }, { 1.05, 3025.0 }, { 1.10, 3075.0 }, { 1.15, 3125.0 }, { 1.20, 3175.0 }, { 1.25, 3225.0 }, { 1.30, 3275.0 }, }; static { kFlywheelAutoAimPolynomial = new PolynomialRegression(kFlywheelDistanceRpmValues, 2); } } public static final class Intake { public static final double ARMGEARRATIO = (4/1)*(21/18); // 18t pulley on the motor through 4:1 gearbox and 21t pulley on the arm public static final SparkMaxConfig ARMMOTORCONFIG = new SparkMaxConfig(); static { ARMMOTORCONFIG .idleMode(IdleMode.kCoast) .smartCurrentLimit(20); ARMMOTORCONFIG.closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) // These are example gains you may need to them for your own robot! .pid(0.5, 0.001, 1) .outputRange(-1, 1) .positionWrappingEnabled(true); ARMMOTORCONFIG.encoder .positionConversionFactor(ARMGEARRATIO); } public static final SparkMaxConfig INTAKEMOTORCONFIG = new SparkMaxConfig(); static { INTAKEMOTORCONFIG .idleMode(IdleMode.kCoast) .smartCurrentLimit(40); INTAKEMOTORCONFIG.closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) // These are example gains you may need to them for your own robot! .pid(1, 0, 0) .outputRange(-1, 1); } public static final int ENCODER_PORT = 0; public static final int ARMMOTOR_ID = 14; public static final int INTAKEMOTOR_ID = 13; public static final double INTAKESPEED = 1; public static final double INTAKEFEEDERMODESPEED = -0.5; public static final double ABSOLUTEOFFSET = -((1-0.420)-0.01); public static final double ABSOLUTEMAXANGLE = 45/360; public static final double ABSOLUTEMINANGLE = 0/360; public static final double SHOOTINGANGLE = 40/360; public static final double INTAKEANGLE = 0/360; public static final double BUMP_HYSTERESIS = 0.2; } public static final class Feeder { public static final int MOTOR_ID = 15; public static final SparkMaxConfig MOTORCONFIG = new SparkMaxConfig(); static { MOTORCONFIG .idleMode(IdleMode.kBrake) .smartCurrentLimit(40) .inverted(true); MOTORCONFIG.closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) // These are example gains you may need to them for your own robot! .pid(1, 0, 0) .outputRange(-1, 1); // Enable PID wrap around for the turning motor. This will allow the PID // controller to go through 0 to get to the setpoint i.e. going from 350 degrees // to 10 degrees will go through 0 rather than the other direction which is a // longer route. } } public static final class FieldMiscellaneous { public static final Rectangle2d gBUMPS[] = { // rect2d array of all four bumps relative to the wpilib blue orgin (although orgin shouldn't matter as they are symmetrical in x) in meters. source: https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-field-dimension-dwgs.pdf new Rectangle2d(new Translation2d(Units.inchesToMeters(182.11-(47/2)), Units.inchesToMeters(50.59+12 )), new Translation2d(Units.inchesToMeters(182.11+(47/2)), Units.inchesToMeters(50.59+12+73 ))), new Rectangle2d(new Translation2d(Units.inchesToMeters(182.11-(47/2)), Units.inchesToMeters(317.688-(50.59+12 ))), new Translation2d(Units.inchesToMeters(182.11+(47/2)), Units.inchesToMeters(317.688-(50.59+12+73)))), new Rectangle2d(new Translation2d(Units.inchesToMeters(651.22-(182.11-(47/2))), Units.inchesToMeters(50.59+12 )), new Translation2d(Units.inchesToMeters(651.22-(182.11+(47/2))), Units.inchesToMeters(50.59+12+73 ))), new Rectangle2d(new Translation2d(Units.inchesToMeters(651.22-(182.11-(47/2))), Units.inchesToMeters(317.688-(50.59+12 ))), new Translation2d(Units.inchesToMeters(651.22-(182.11+(47/2))), Units.inchesToMeters(317.688-(50.59+12+73)))) }; public static final Translation3d gBLUALLIANCEHUB = new Translation3d(Units.inchesToMeters(182.11), Units.inchesToMeters(317.688/2), Units.inchesToMeters(72)); // translation3d of the blue alliance hub relative public static final Translation3d gREDALLIANCEHUB = new Translation3d(Units.inchesToMeters(651.22-182.11), Units.inchesToMeters(317.688/2), Units.inchesToMeters(72)); // translation3d of the red alliance hub relative } public static final class DrivebaseConstants { // Hold time on motor brakes when disabled public static final double WHEEL_LOCK_TIME = 10; // seconds } public static class OperatorConstants { // Joystick Deadband public static final double DEADBAND = 0.1; public static final double LEFT_Y_DEADBAND = 0.1; public static final double RIGHT_X_DEADBAND = 0.25; public static final double TURN_CONSTANT = 6; } }