102 lines
3.3 KiB
Java
102 lines
3.3 KiB
Java
package frc.robot.constants;
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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 ShooterConstants {
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public enum ShooterSpeeds {
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kHubSpeed(3000.0),
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kFeedSpeed(3000.0);
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private double speedMPS;
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private double speedRPM;
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private ShooterSpeeds(double speedRPM) {
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this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
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this.speedRPM = speedRPM;
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}
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public double getSpeedMPS() {
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return speedMPS * kWheelDiameter*Math.PI;
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}
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public double getSpeedRPM(){
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return speedRPM;
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}
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}
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// TODO Conversion factor?
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public static final double kWheelDiameter = Units.inchesToMeters(4);
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// TODO Real values
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public static final int kLeftShooterMotorCANID = 2;
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public static final int kRightShooterMotorCANID = 5;
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public static final boolean kLeftShooterMotorInverted = true;
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public static final boolean kRightShooterMotorInverted = false;
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public static final double kLeftP = 0.0;//0.001;
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public static final double kLeftI = 0;
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public static final double kLeftD = 0;
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public static final double kLeftS = 0;
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public static final double kLeftV = 0.00121;
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public static final double kLeftA = 0;
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public static final double kRightP = 0.001;//0.1;
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public static final double kRightI = 0;
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public static final double kRightD = 0.000;
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public static final double kRightS = 0;
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public static final double kRightV = 0.00121;
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public static final double kRightA = 0;
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public static final double kMaxManualSpeedMultiplier = 1;
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public static final double kShooterHeightMeters = 0;
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// TODO Is this value sane?
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public static final int kCurrentLimit = 60;
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public static final IdleMode kShooterIdleMode = IdleMode.kCoast;
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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 kLeftMotorConfig = new SparkMaxConfig();
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public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
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static {
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kLeftMotorConfig
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.idleMode(kShooterIdleMode)
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.smartCurrentLimit(kCurrentLimit)
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.inverted(kLeftShooterMotorInverted);
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kLeftMotorConfig.absoluteEncoder
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.positionConversionFactor(1)
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.velocityConversionFactor(60);
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kLeftMotorConfig.closedLoop
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.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
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.pid(kLeftP, kLeftI, kLeftD)
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.outputRange(-1, 1)
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.feedForward
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.sva(kLeftS, kLeftV, kLeftA);
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kRightMotorConfig
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.idleMode(kShooterIdleMode)
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.smartCurrentLimit(kCurrentLimit)
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.inverted(kRightShooterMotorInverted);
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kRightMotorConfig.absoluteEncoder
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.positionConversionFactor(1)
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.velocityConversionFactor(60)
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.inverted(true);
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kRightMotorConfig.closedLoop
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.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
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.pid(kRightP, kRightI, kRightD)
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.outputRange(-1, 1)
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.feedForward
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.sva(kRightS, kRightV, kRightA);
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}
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}
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