Team_2648/2026-Robot-Code
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First tinkering iteration, missing some stuff

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Bradley Bickford
2026-01-12 23:25:11 -05:00
parent ec73c42cfb
commit 58a6971704
20 changed files with 1752 additions and 3 deletions
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src/main/java/frc/robot/constants/DrivetrainConstants.java Normal file
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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 class DrivetrainConstants {
// TODO Hold over from 2025, adjust?
public static final double kMaxSpeedMetersPerSecond = 4.125;
public static final double kMaxAngularSpeed = 2 * Math.PI;
// TODO Replace zeros with real numbers
public static final double kTrackWidth = Units.inchesToMeters(0);
public static final double kWheelBase = Units.inchesToMeters(0);
// TODO Replace zeros with real numbers
// These values should be determinable by writing the magnetic encoder output
// to the dashboard, and manually aligning all wheels such that the bevel gears
// on the side of the wheel all face left. Some known straight edge (like 1x1 or similar)
// should be used as the alignment medium. If done correctly, and the modules aren't disassembled,
// then these values should work throughout the season the first time they are set.
public static final double kFrontLeftMagEncoderOffset = 0;
public static final double kFrontRightMagEncoderOffset = 0;
public static final double kRearLeftMagEncoderOffset = 0;
public static final double kRearRightMagEncoderOffset = 0;
// Kraken CAN IDs
// TODO Real CAN IDs
public static final int kFrontLeftDrivingCANID = 0;
public static final int kFrontRightDrivingCANID = 0;
public static final int kRearLeftDrivingCANID = 0;
public static final int kRearRightDrivingCANID = 0;
// SparkMAX CAN IDs
// TODO Real CAN IDs
public static final int kFrontLeftTurningCANID = 0;
public static final int kFrontRightTurningCANID = 0;
public static final int kRearLeftTurningCANID = 0;
public static final int kRearRightTurningCANID = 0;
// Analog Encoder Input Ports
// TODO Real Port IDs
public static final int kFrontLeftAnalogInPort = 0;
public static final int kFrontRightAnalogInPort = 0;
public static final int kRearLeftAnalogInPort = 0;
public static final int kRearRightAnalogInPort = 0;
public static final boolean kGyroReversed = true;
// TODO Hold over from 2025, adjust?
public static final double kHeadingP = .1;
public static final double kXTranslationP = .5;
public static final double kYTranslationP = .5;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
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)
);
}