Adding preliminary basic drivetrain stuff

src/main/java/frc/robot/constants/AutoConstants.java

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+package frc.robot.constants;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
+public final class AutoConstants {
+        public static final double kMaxSpeedMetersPerSecond = 3.895; // max capable = 4.6
+        public static final double kMaxAccelerationMetersPerSecondSquared = 3; // max capable = 7.4
+        public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
+        public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
+
+        public static final double kPXController = 1.05;
+        public static final double kPYController = 1.05;
+        public static final double kPThetaController = 0.95; // needs to be separate from heading control
+
+        public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
+        public static final double kDHeadingController = 0.0025;
+
+        // Constraint for the motion profiled robot angle controller
+        public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
+            kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
+    }

src/main/java/frc/robot/constants/DrivetrainConstants.java

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+package frc.robot.constants;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.util.Units;
+
+public final class DrivetrainConstants {
+        // Driving Parameters - Note that these are not the maximum capable speeds of
+        // the robot, rather the allowed maximum speeds
+        public static final double kMaxSpeedMetersPerSecond = 4.6;
+        public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
+
+        public static final double kDirectionSlewRate = 2.4; // radians per second
+        public static final double kMagnitudeSlewRate = 3.2; // percent per second (1 = 100%)
+        public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%)
+
+        // Chassis configuration
+        public static final double kTrackWidth = Units.inchesToMeters(26.5-1.75*2);
+        // Distance between centers of right and left wheels on robot
+        public static final double kWheelBase = Units.inchesToMeters(32.3-1.75*2);
+        // Distance between front and back wheels on robot
+        public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
+            new Translation2d(kWheelBase / 2, kTrackWidth / 2),
+            new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+            new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+            new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+
+        // Angular offsets of the modules relative to the chassis in radians
+        public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
+        public static final double kFrontRightChassisAngularOffset = 0;
+        public static final double kBackLeftChassisAngularOffset = Math.PI;
+        public static final double kBackRightChassisAngularOffset = Math.PI / 2;
+
+        // SPARK MAX CAN IDs
+        public static final int kFrontLeftDrivingCanId = 1;
+        public static final int kRearLeftDrivingCanId = 3;
+        public static final int kFrontRightDrivingCanId = 4;
+        public static final int kRearRightDrivingCanId = 2;
+
+        public static final int kFrontLeftTurningCanId = 5;
+        public static final int kRearLeftTurningCanId = 7;
+        public static final int kFrontRightTurningCanId = 8;
+        public static final int kRearRightTurningCanId = 6;
+
+        public static final double kTurnToleranceDeg = 0;
+        public static final double kTurnRateToleranceDegPerS = 0;
+
+        public static final boolean kGyroReversed = true;
+
+        public static final double kRobotStartOffset = 180;
+    }

src/main/java/frc/robot/constants/ModuleConstants.java

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+package frc.robot.constants;
+
+import com.revrobotics.CANSparkBase.IdleMode;
+
+public class ModuleConstants {
+    // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
+        // This changes the drive speed of the module (a pinion gear with more teeth will result in a
+        // robot that drives faster).
+        public static final int kDrivingMotorPinionTeeth = 14;
+
+        // Invert the turning encoder, since the output shaft rotates in the opposite direction of
+        // the steering motor in the MAXSwerve Module.
+        public static final boolean kTurningEncoderInverted = true;
+
+        // Calculations required for driving motor conversion factors and feed forward
+        public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
+        public static final double kWheelDiameterMeters = 0.0762;
+        public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
+        // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
+        public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
+        public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
+            / kDrivingMotorReduction;
+
+        public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
+            / kDrivingMotorReduction; // meters
+        public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
+            / kDrivingMotorReduction) / 60.0; // meters per second
+
+        public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
+        public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
+
+        public static final double kTurningEncoderPositionPIDMinInput = 0; // radians
+        public static final double kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor; // radians
+
+        public static final double kDrivingP = 0.04;
+        public static final double kDrivingI = 0;
+        public static final double kDrivingD = 0;
+        public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
+        public static final double kDrivingMinOutput = -1;
+        public static final double kDrivingMaxOutput = 1;
+
+        public static final double kTurningP = 1;
+        public static final double kTurningI = 0;
+        public static final double kTurningD = 0;
+        public static final double kTurningFF = 0;
+        public static final double kTurningMinOutput = -1;
+        public static final double kTurningMaxOutput = 1;
+
+        public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
+        public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
+
+        public static final int kDrivingMotorCurrentLimit = 60; // amps
+        public static final int kTurningMotorCurrentLimit = 30; // amps
+}

src/main/java/frc/robot/constants/NeoMotorConstants.java

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+package frc.robot.constants;
+
+public class NeoMotorConstants {
+    public static final double kFreeSpeedRpm = 5676;
+}

src/main/java/frc/robot/constants/OIConstants.java

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+package frc.robot.constants;
+
+public class OIConstants {
+    public static final int kPrimaryXboxUSB = 0;
+    public static final int kSecondaryXboxUSB = 1;
+    public static final double kTeleopDriveDeadband = 0.05;
+}