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Constants.java
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package frc.robot.Util;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
import com.revrobotics.spark.config.MAXMotionConfig.MAXMotionPositionMode;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
public final class Constants {
public static final String canbus = "Omnivore";
public static class ControllerConstants {
public enum ControlStates {
ALGAE,
CORAL,
}
public static final int driverPort = 0;
public static final int operatorPort = 1;
public static final double deadzone = 0.15;
}
public static class IntakeConstants {
public enum IntakeStates {
IDLE,
INTAKING,
FEEDING,
OUTTAKING,
STUCK,
}
public static final boolean attached = true;
public static final boolean isInverted = false;
public static final int id = 0;
public static final double gearRatio = 1 / 1;
public static final Current supplyLimit = Units.Amps.of(0);
public static final Current stallLimit = Units.Amps.of(0);
public static final Angle offset = Units.Rotation.of(0);
public static final double maxForwardOutput = 0;
public static final double maxReverseOutput = 0;
public static final IdleMode idleMode = IdleMode.kCoast;
public static final FeedbackSensor sensorType = FeedbackSensor.kPrimaryEncoder;
public static final MAXMotionPositionMode mm_positionMode = MAXMotionPositionMode.kMAXMotionTrapezoidal;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public static final double maxIAccum = 0;
public static final AngularVelocity intakeSpeed = Units.RPM.of(0);
public static final AngularVelocity outtakeSpeed = Units.RPM.of(0);
public static final AngularVelocity feedSpeed = Units.RPM.of(0);
public static final AngularVelocity idleSpeed = Units.RPM.of(0);
public static final AngularVelocity error = Units.RPM.of(0);
public static final AngularVelocity mm_maxAccel = Units.RPM.of(0);
public static final AngularVelocity mm_velocity = Units.RPM.of(0);
public static final AngularVelocity mm_error = Units.RPM.of(0);
public enum IntakeModes {
IDLE(idleSpeed),
INTAKE(intakeSpeed),
FEED(feedSpeed),
OUTTAKE(outtakeSpeed);
public AngularVelocity speed;
IntakeModes(AngularVelocity speed) {
this.speed = speed;
}
}
}
public static class CleanerConstants {
public enum CleanerStates {
IDLE,
INTAKING,
OUTTAKING
}
public static final boolean attached = true;
public static final int id = -124542;
public static final double gearRatio = 0 / 0;
public static final Current supplyLimit = Units.Amps.of(0);
public static final Current stallLimit = Units.Amps.of(0);
public static final IdleMode idleMode = IdleMode.kBrake;
public static final boolean isInverted = false;
public static final double maxForwardOutput = 0;
public static final double maxReverseOutput = 0;
public static final double maxIAccum = 0;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public static final MAXMotionPositionMode mm_positionMode = MAXMotionPositionMode.kMAXMotionTrapezoidal;
public static final AngularVelocity mm_maxAccel = Units.RPM.of(0);
public static final AngularVelocity mm_velocity = Units.RPM.of(0);
public static final AngularVelocity mm_error = Units.RPM.of(0);
public static final AngularVelocity intakeSpeed = Units.RPM.of(0);
public static final AngularVelocity outtakeSpeed = Units.RPM.of(0);
public static final AngularVelocity feedSpeed = Units.RPM.of(0);
public static final AngularVelocity idleSpeed = Units.RPM.of(0);
public enum CleanerModes {
IDLE(idleSpeed),
INTAKE(intakeSpeed),
OUTTAKE(outtakeSpeed);
public AngularVelocity speed;
CleanerModes(AngularVelocity speed) {
this.speed = speed;
}
}
}
public static class CleanPivotConstants {
public enum CleanPivotStates {
STOW,
L2,
L3,
NET,
}
public static final int id = 32342370;
public static final boolean attached = true;
public static final Angle softLimitForwardMax = Units.Rotation.of(0);
public static final boolean softLimitEnabled = true;
public static final Angle softLimitReverseMax = Units.Rotation.of(0);
public static final Angle stowAngle = Units.Rotation.of(0);
public static final Angle l2Angle = Units.Rotation.of(0);
public static final Angle l3Angle = Units.Rotation.of(0);
public static final Angle netAngle = Units.Rotation.of(0);
public static final boolean isInverted = false;
public static final Angle zeroOffset = Units.Rotation.of(0);
public static final FeedbackSensor feedbackSensor = FeedbackSensor.kAbsoluteEncoder;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public enum CleanPivotModes {
STOW(stowAngle),
L2(l2Angle),
L3(l3Angle),
NET(netAngle);
public Angle angle;
CleanPivotModes(Angle angle) {
this.angle = angle;
}
}
}
public static class ManipulatorConstants {
public enum ManipulatorStates {
IDLE,
LOCKED,
INTAKING,
OUTTAKING,
}
public static final boolean attached = true;
public static final int id = 1;
public static final double gearRatio = 1/1;
public static final Current supplyLimit = Units.Amps.of(0);
public static final Current stallLimit = Units.Amps.of(0);
public static final IdleMode idleMode = IdleMode.kBrake;
public static final boolean isInverted = false;
public static final Angle offset = Units.Rotation.of(0);
public static final FeedbackSensor sensorType = FeedbackSensor.kPrimaryEncoder;
public static final double maxForwardOutput = 0;
public static final double maxReverseOutput = 0;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public static final double maxIAccum = 0;
public static final AngularVelocity intakeSpeed = Units.RPM.of(0);
public static final AngularVelocity outtakeSpeed = Units.RPM.of(0);
public static final AngularVelocity feedSpeed = Units.RPM.of(0);
public static final AngularVelocity idleSpeed = Units.RPM.of(0);
public static final AngularVelocity error = Units.RPM.of(0);
public static final MAXMotionPositionMode mm_positionMode = MAXMotionPositionMode.kMAXMotionTrapezoidal;
public static final AngularVelocity mm_maxAccel = Units.RPM.of(0);
public static final AngularVelocity mm_velocity = Units.RPM.of(0);
public static final AngularVelocity mm_error = Units.RPM.of(0);
public enum ManipulatorModes {
IDLE(idleSpeed),
INTAKE(intakeSpeed),
FEED(feedSpeed),
OUTTAKE(outtakeSpeed);
public AngularVelocity speed;
ManipulatorModes(AngularVelocity speed) {
this.speed = speed;
}
}
}
public static class ElevatorConstants {
public enum ElevatorStates {
}
public static final boolean attached = true;
public static final boolean leaderInvert = false;
public static final boolean follwerInvert = true;
public static final boolean gravityType = false;
public static final boolean breakType = true;
public static final boolean useFMaxRotation = true;
public static final boolean useRMaxRotation = true;
public static final boolean canRangeAttached = true;
public static final int leftId = 14;
public static final int rightId = 15;
public static final int canCoderId = 00;
public static final int canRangeId = 16;
public static final double gearRatio = 1 / 1;
public static final Current forwardCurrentLimit = Units.Amps.of(0);
public static final Current reverseCurrentLimit = Units.Amps.of(0);
public static final Current stallLimit = Units.Amps.of(0);
public static final Angle offset = Units.Rotation.of(0);
public static final double maxForwardOutput = 0;
public static final double maxReverseOutput = 0;
public static final Angle maxReverseRotation = Units.Rotation.of(0);
public static final Angle maxFowardRotation = Units.Rotation.of(0);
public static final Angle rotationOffset = Units.Rotation.of(0);
public static final FeedbackSensorSourceValue feedbackSensor = FeedbackSensorSourceValue.FusedCANcoder;
public static final double s = 0;
public static final double v = 0;
public static final double a = 0;
public static final double g = 0;
public static final double ff = 0;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public static final double maxIAccum = 0;
public static final Angle stow = Units.Rotation.of(0);
public static final Angle feed = Units.Rotation.of(0);
public static final Angle algaeProcessor = Units.Rotation.of(0);
public static final Angle coralL1 = Units.Rotation.of(0);
public static final Angle coralL2 = Units.Rotation.of(0);
public static final Angle algaeL2 = Units.Rotation.of(0);
public static final Angle coralL3 = Units.Rotation.of(0);
public static final Angle algaeL3 = Units.Rotation.of(0);
public static final Angle coralL4 = Units.Rotation.of(0);
public static final Angle coralStation = Units.Rotation.of(0);
public static final Angle net = Units.Rotation.of(0);
public static final AngularVelocity mm_maxAccel = Units.RPM.of(0);
public static final AngularVelocity mm_velocity = Units.RPM.of(0);
public static final AngularVelocity mm_error = Units.RPM.of(0);
public enum ElevatorPositions {
STOW(stow),
FEED(feed),
PROCESSOR(algaeProcessor),
CORALL1(coralL1),
CORALL2(coralL2),
ALGAEL2(algaeL2),
CORALL3(coralL3),
ALGAEL3(algaeL3),
CORALL4(coralL4),
NET(net);
public Angle rotation;
ElevatorPositions(Angle rotation) {
this.rotation = rotation;
}
}
}
public static class ManipJointConstants {
public enum ManipJointStates {
}
public static final boolean attached = true;
public static final int id = 1;
public static final double gearRatio = 0 / 0;
public static final Current supplyLimit = Units.Amps.of(30);
public static final Current stallLimit = Units.Amps.of(50);
public static final IdleMode idleMode = IdleMode.kBrake;
public static final boolean isInverted = false;
public static final Angle offset = Units.Rotation.of(0);
public static final FeedbackSensor sensorType = FeedbackSensor.kPrimaryEncoder;
public static final double maxForwardOutput = 0;
public static final double maxReverseOutput = 0;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public static final double maxIAccum = 0;
public static final Angle stow = Units.Rotations.of(0);
public static final Angle feed = Units.Rotations.of(0);
public static final Angle scoreL1 = Units.Rotations.of(0);
public static final Angle scoreL2 = Units.Rotations.of(0);
public static final Angle scoreL3 = Units.Rotations.of(0);
public static final Angle scoreL4 = Units.Rotations.of(0);
public static final Angle error = Units.Rotations.of(0);
public static final MAXMotionPositionMode mm_positionMode = MAXMotionPositionMode.kMAXMotionTrapezoidal;
public static final AngularVelocity mm_maxAccel = Units.RPM.of(0);
public static final AngularVelocity mm_velocity = Units.RPM.of(0);
public static final AngularVelocity mm_error = Units.RPM.of(0);
public enum ManipJointPositions {
STOW(stow),
FEED(feed),
SCOREL1(scoreL1),
SCOREL2(scoreL2),
SCOREL3(scoreL3),
SCOREL4(scoreL4);
public Angle position;
ManipJointPositions(Angle position) {
this.position = position;
}
}
}
public static class ClimberConstants {
public enum ClimberStates {
STOW,
ALIGN,
CLIMB
}
public static final boolean attached = true;
public static final boolean isInverted = false;
public static final int id = 2;
public static final double gearRatio = 1 / 1;
public static final Current supplyLimit = Units.Amps.of(0);
public static final Current stallLimit = Units.Amps.of(0);
public static final Angle offset = Units.Rotation.of(0);
public static final double maxForwardOutput = 0;
public static final double maxReverseOutput = 0;
public static final IdleMode idleMode = IdleMode.kCoast;
public static final FeedbackSensor sensorType = FeedbackSensor.kPrimaryEncoder;
public static final MAXMotionPositionMode mm_positionMode = MAXMotionPositionMode.kMAXMotionTrapezoidal;
public static final double p = 0;
public static final double i = 0;
public static final double d = 0;
public static final double maxIAccum = 0;
public static final Angle stow_angle = Units.Rotation.of(0);
public static final Angle align_angle = Units.Rotation.of(0);
public static final Angle climb_angle = Units.Rotation.of(0);
public static final Angle error = Units.Rotation.of(0);
public static final AngularVelocity mm_maxAccel = Units.RPM.of(0);
public static final AngularVelocity mm_velocity = Units.RPM.of(0);
public static final AngularVelocity mm_error = Units.RPM.of(0);
public enum ClimberModes {
STOW(stow_angle),
ALIGN(align_angle),
CLIMB(climb_angle);
public Angle angle;
ClimberModes(Angle angle) {
this.angle = angle;
}
}
}
}