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FRC Paradigm Shift #1259
Documentation for the 2021 Robot
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FRC Paradigm Shift #1259
Documentation for the 2021 Robot
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Go to the source code of this file.
Namespaces | |
| DriveConstants | |
| ModuleConstants | |
| AutoConstants | |
| OIConstants | |
| VisionConstants | |
Macros | |
| #define | DualJoysticks |
| Uncomment to set button binds for secondary controller to the primary controller. More... | |
Typedefs | |
| using | AutoConstants::radians_per_second_squared_t = compound_unit< radians, inverse< squared< second >>> |
Variables | |
| constexpr int | DriveConstants::kNumSwerveModules = 4 |
| constexpr meter_t | DriveConstants::kTrackWidth = 23.5_in |
| Distance between centers of left and right wheels on robot. More... | |
| constexpr meter_t | DriveConstants::kWheelBase = 23.5_in |
| Distance between centers of front and back wheels on robot. More... | |
| constexpr bool | DriveConstants::kGyroReversed = false |
| constexpr double | DriveConstants::kFrontLeftOffset = 2689.0 |
| constexpr double | DriveConstants::kFrontRightOffset = 205.0 |
| constexpr double | DriveConstants::kRearRightOffset = 1858.0 |
| constexpr double | DriveConstants::kRearLeftOffset = 983.0 |
| constexpr double | DriveConstants::kPulseWidthToZeroOne = 4096.0 |
| constexpr double | DriveConstants::kPulseWidthToRadians = 2.0 * wpi::math::pi / kPulseWidthToZeroOne |
| constexpr int | ModuleConstants::kEncoderCPR = 2048 |
| constexpr int | ModuleConstants::kEncoderTicksPerSec = 10 |
| TalonFX::GetSelectedSensorVelocity() returns ticks/100ms = 10 ticks/sec. More... | |
| constexpr double | ModuleConstants::kWheelDiameterMeters = .1016 |
| 4" More... | |
| constexpr double | ModuleConstants::kDriveGearRatio = 8.16 |
| MK3 swerve modules w/NEOs 12.1 ft/sec w/Falcon 13.6 ft/sec. More... | |
| constexpr double | ModuleConstants::kTurnMotorRevsPerWheelRev = 12.8 |
| constexpr double | ModuleConstants::kDriveEncoderMetersPerSec = kEncoderTicksPerSec / static_cast<double>(kEncoderCPR) / kDriveGearRatio * (kWheelDiameterMeters * wpi::math::pi) |
| constexpr double | ModuleConstants::kTurnEncoderCPR = 4096.0 / kTurnMotorRevsPerWheelRev |
| constexpr double | ModuleConstants::kP_ModuleTurningController = 1.1 |
| constexpr double | ModuleConstants::kD_ModuleTurningController = 0.03 |
| constexpr double | ModuleConstants::kPModuleDriveController = 0.001 |
| constexpr uint | ModuleConstants::kMotorCurrentLimit = 30 |
| constexpr auto | AutoConstants::kMaxSpeed = meters_per_second_t(3.75) |
| constexpr auto | AutoConstants::kMaxAcceleration = meters_per_second_squared_t(4.5) |
| constexpr auto | AutoConstants::kMaxAngularSpeed = radians_per_second_t(wpi::math::pi * 6.0) |
| constexpr auto | AutoConstants::kMaxAngularAcceleration = unit_t<radians_per_second_squared_t>(wpi::math::pi * 6.0) |
| constexpr double | AutoConstants::kPXController = 7.0 |
| constexpr double | AutoConstants::kDXController = 0.7 |
| constexpr double | AutoConstants::kPYController = 7.0 |
| constexpr double | AutoConstants::kDYController = 0.7 |
| constexpr double | AutoConstants::kPThetaController = 10.0 |
| constexpr double | AutoConstants::kDThetaController = 0.9 |
| constexpr double | OIConstants::kDeadzoneX = 0.015 |
| constexpr double | OIConstants::kDeadzoneY = 0.015 |
| constexpr double | OIConstants::kDeadzoneXY = 0.08 |
| constexpr double | OIConstants::kDeadzoneRot = 0.10 |
| constexpr double | OIConstants::kDeadzoneAbsRot = 0.50 |
| constexpr int | OIConstants::kPrimaryControllerPort = 0 |
| constexpr int | OIConstants::kSecondaryControllerPort = 1 |
| constexpr double | VisionConstants::kMountingAngle = 25.0 |
| constexpr double | VisionConstants::kMountingHeight = 22 |
| constexpr double | VisionConstants::kTargetHeight = 81.25 |
| constexpr double | VisionConstants::kMinTargetDistance = 70 |
| constexpr double | VisionConstants::kMaxTargetDistance = 380 |
| constexpr double | VisionConstants::kMinHoneDistance = 130 |
| constexpr double | VisionConstants::kMaxHoneDistance = 260 |
Teleop Drive Constraints | |
| constexpr auto | DriveConstants::kDriveSpeed = meters_per_second_t(3.5) |
| constexpr auto | DriveConstants::kDriveAngularSpeed = radians_per_second_t(wpi::math::pi * 2.0) |
CAN bus IDs | |
CAN IDs for swerve modules | |
| constexpr int | DriveConstants::kCanifierID = 0 |
| CANifier CAN ID (for absolute encoder PWM inputs) More... | |
| constexpr int | DriveConstants::kFrontLeftDriveMotorPort = 1 |
| Front Left Drive CAN ID (TalonFX) More... | |
| constexpr int | DriveConstants::kFrontLeftTurningMotorPort = 2 |
| Front Left Turn CAN ID (SparkMAX) More... | |
| constexpr int | DriveConstants::kFrontRightDriveMotorPort = 3 |
| Front Right Drive CAN ID (TalonFX) More... | |
| constexpr int | DriveConstants::kFrontRightTurningMotorPort = 4 |
| Front Right Turn CAN ID (SparkMAX) More... | |
| constexpr int | DriveConstants::kRearRightDriveMotorPort = 5 |
| Rear Right Drive CAN ID (TalonFX) More... | |
| constexpr int | DriveConstants::kRearRightTurningMotorPort = 6 |
| Rear Right Turn CAN ID (SparkMAX) More... | |
| constexpr int | DriveConstants::kRearLeftDriveMotorPort = 7 |
| Rear Left Drive CAN ID (TalonFX) More... | |
| constexpr int | DriveConstants::kRearLeftTurningMotorPort = 8 |
Canifier PWM channels | |
PWM channels for the canifier | |
| constexpr CANifier::PWMChannel | DriveConstants::kFrontLeftPWM = CANifier::PWMChannel::PWMChannel0 |
| constexpr CANifier::PWMChannel | DriveConstants::kFrontRightPWM = CANifier::PWMChannel::PWMChannel2 |
| constexpr CANifier::PWMChannel | DriveConstants::kRearRightPWM = CANifier::PWMChannel::PWMChannel1 |
| constexpr CANifier::PWMChannel | DriveConstants::kRearLeftPWM = CANifier::PWMChannel::PWMChannel3 |
Drive wheel reversal (inverting) flags | |
To keep the swerve module bevel gear facing inwards we need to reverse the right side | |
| constexpr bool | DriveConstants::kFrontLeftDriveMotorReversed = true |
| constexpr bool | DriveConstants::kRearLeftDriveMotorReversed = true |
| constexpr bool | DriveConstants::kFrontRightDriveMotorReversed = false |
| constexpr bool | DriveConstants::kRearRightDriveMotorReversed = false |
Robot RotationDrive PID Controller | |
Rotation PID Controller for Rotation Drive, converts between radians angle error to radians per second turn | |
| constexpr double | DriveConstants::kRotationDriveP = 1 |
| constexpr double | DriveConstants::kRotationDriveI = 0 |
| constexpr double | DriveConstants::kRotationDriveIMaxRange = 0 |
| constexpr double | DriveConstants::kRotationDriveD = 0.025 |
| constexpr double | DriveConstants::kRotationDriveMaxSpeed = 3.5 |
| Max speed for control. More... | |
| constexpr double | DriveConstants::kRotationDriveDirectionLimit = 3 |
| Speeds higher than value will prevent robot from changing directions for a turn. More... | |
| constexpr double | DriveConstants::kRotationDriveTolerance = 0.07 |
| Tolerance for turning. More... | |
Turn PID Controller for Swerve Modules | |
| constexpr bool | ModuleConstants::kTurnAdjust = false |
| constexpr double | ModuleConstants::kTurnP = 0.75 |
| constexpr double | ModuleConstants::kTurnI = 0.0 |
| constexpr double | ModuleConstants::kTurnD = 0.0 |
| constexpr double | ModuleConstants::kTurnIA = 0.0 |
| constexpr double | ModuleConstants::kTurnIZ = 0.0 |
Drive PID Controller for Swerve Modules | |
| constexpr bool | ModuleConstants::kDriveAdjust = false |
| constexpr double | ModuleConstants::kDriveP = 0.1 |
| constexpr double | ModuleConstants::kDriveI = 0 |
| constexpr double | ModuleConstants::kDriveD = 0 |
| constexpr double | ModuleConstants::kDriveFF = 0.047619 |
| #define DualJoysticks |
Uncomment to set button binds for secondary controller to the primary controller.
Definition at line 24 of file Constants.h.
1.8.11 
