126 lines
5.1 KiB
Java
126 lines
5.1 KiB
Java
package frc.robot.constants;
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import com.ctre.phoenix6.configs.AudioConfigs;
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import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
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import com.ctre.phoenix6.configs.FeedbackConfigs;
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import com.ctre.phoenix6.configs.MotorOutputConfigs;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import com.ctre.phoenix6.signals.InvertedValue;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import com.revrobotics.spark.FeedbackSensor;
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import com.revrobotics.spark.config.SparkMaxConfig;
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import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
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import edu.wpi.first.math.util.Units;
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public class ModuleConstants {
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public enum ModuleName {
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kFrontLeft("FrontLeft"),
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kFrontRight("FrontRight"),
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kRearLeft("RearLeft"),
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kRearRight("RearRight");
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private String loggableName;
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private ModuleName(String loggableName) {
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this.loggableName = loggableName;
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}
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public String getLoggableName() {
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return "Drivetrain/Modules/" + loggableName;
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}
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}
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// DRIVING MOTOR CONFIG (Kraken)
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public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);
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public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
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public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
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public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
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public static final double kDriveWheelFreeSpeedRPS = (kDrivingMotorFeedSpeedRPS * kWheelCircumferenceMeters) /
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kDrivingMotorReduction;
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public static final double kDrivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
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public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS;
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// TODO Hold over from 2025, adjust?
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public static final double kDriveP = .04;
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public static final double kDriveI = 0;
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public static final double kDriveD = 0;
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public static final double kDriveS = 0;
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public static final double kDriveV = kDrivingVelocityFeedForward;
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public static final double kDriveA = 0;
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// TODO Hold over from 2025, adjust?
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public static final int kDriveMotorStatorCurrentLimit = 100;
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public static final int kDriveMotorSupplyCurrentLimit = 65;
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// TODO Hold over from 2025, adjust?
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public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
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public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
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// TURNING MOTOR CONFIG (NEO)
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public static final double kTurningMotorReduction = 150.0/7.0;
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public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
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// TODO Adjust? Let over from 2025
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public static final double kTurnP = 1;
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public static final double kTurnI = 0;
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public static final double kTurnD = 0;
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public static final boolean kIsEncoderInverted = false;
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// TODO How sensitive is too sensitive?
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public static final double kAutoResetPositionDeadband = Units.degreesToRadians(.25);
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public static final int kTurnMotorCurrentLimit = 20;
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public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
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// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
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public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
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public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
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public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
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public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
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public static final AudioConfigs kAudioConfig = new AudioConfigs();
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public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
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static {
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kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
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kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
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kDriveCurrentLimitConfig.SupplyCurrentLimitEnable = true;
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kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
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kDriveCurrentLimitConfig.SupplyCurrentLimit = kDriveMotorSupplyCurrentLimit;
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kDriveMotorConfig.Inverted = kDriveInversionState;
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kDriveMotorConfig.NeutralMode = kDriveIdleMode;
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kAudioConfig.AllowMusicDurDisable = true;
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kDriveSlot0Config.kP = kDriveP;
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kDriveSlot0Config.kI = kDriveI;
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kDriveSlot0Config.kD = kDriveD;
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kDriveSlot0Config.kS = kDriveS;
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kDriveSlot0Config.kV = kDriveV;
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kDriveSlot0Config.kA = kDriveA;
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turningConfig
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.idleMode(kTurnIdleMode)
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.smartCurrentLimit(kTurnMotorCurrentLimit)
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.inverted(true);
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turningConfig.encoder
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//.inverted(true)
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.positionConversionFactor(kTurningFactor)
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.velocityConversionFactor(kTurningFactor / 60.0);
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turningConfig.closedLoop
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.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
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.pid(kTurnP, kTurnI, kTurnD)
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.outputRange(-1, 1)
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.positionWrappingEnabled(true)
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.positionWrappingInputRange(0, 2 * Math.PI);
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}
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}
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