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update2
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@DeepBlueRobots
DeepBlueRobots committed Oct 25, 2024
1 parent 20d4180 commit 7c8fd88
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Showing 2 changed files with 25 additions and 18 deletions.
2 changes: 1 addition & 1 deletion src/main/java/org/carlmontrobotics/Config.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ public abstract class Config implements Sendable {

// Add additional config settings by declaring a protected field, and...
protected boolean exampleFlagEnabled = false;
protected boolean swimShady = true;
protected boolean swimShady = false;
protected boolean setupSysId = false;
protected boolean useSmartDashboardControl = false; // whether to control arm position + rpm of
// outtake through SmartDashboard
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41 changes: 24 additions & 17 deletions src/main/java/org/carlmontrobotics/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ public static final class Led {

public static final class Effectorc {
// PID values
// 30s

public static final int INTAKE = 0;
public static final int OUTTAKE = 1;
Expand All @@ -65,10 +66,10 @@ public static final class Effectorc {
public static final double[] kS = { /* /Intake/ */0.22, /* /Outake/ */0.29753 * 2 };
public static final double[] kV = {0.122, 0.11124};
public static final double[] kA = {0, 0.039757};
public static final int INTAKE_PORT = 50; // ports
public static final int OUTTAKE_PORT = 51; // port
public static final int INTAKE_DISTANCE_SENSOR_PORT = 52; // port
public static final int OUTAKE_DISTANCE_SENSOR_PORT = 53; // port
public static final int INTAKE_PORT = 30; // port
public static final int OUTTAKE_PORT = 31; // port
public static final int INTAKE_DISTANCE_SENSOR_PORT = 11; // port correspnds with intake
public static final int OUTAKE_DISTANCE_SENSOR_PORT = 10; // port corresponds with outtake
public static final double DISTANCE_BETWEEN_SENSORS_INCHES = 8.189; // inches
public static final double OFFSET_FROM_GROUND_INCHES = 21; // in
public static final double DS_DEPTH_INCHES = 9.97; // Distance sensor Depth
Expand Down Expand Up @@ -107,11 +108,11 @@ public static final class Effectorc {
}

public static final class Armc {
// 20s

// Motor port
public static final int ARM_MOTOR_PORT_MASTER =
CONFIG.isSwimShady() ? 55 : 13;
public final static int ARM_MOTOR_PORT_FOLLOWER = 60;
public static final int ARM_MOTOR_PORT_MASTER = 20; // port
public final static int ARM_MOTOR_PORT_FOLLOWER = 21; // port
// Config for motors
public static final boolean MOTOR_INVERTED_MASTER = false;
public static final boolean MOTOR_INVERTED_FOLLOWER = true; // verifyed by design AND physical testing
Expand Down Expand Up @@ -200,10 +201,16 @@ public static final class Armc {
public static final double SMART_CURRENT_LIMIT_TIMEOUT = 0.8;


public static final int NEO_BUILTIN_ENCODER_CPR = 42;
public static final int NEO_BUILTIN_ENCODER_CPR = 42; /*
* counts per rotation -
* encoder measuring ticks, every rotation of encoder
* results in a certain number of ticks
*/
}

public static final class Drivetrainc {
// 1-4 are drive motors (FL, FR, BL, BR)
// 11-14 are turn motors. Ones digit correspond to the values of drive motors

// #region Subsystem Constants

Expand Down Expand Up @@ -253,7 +260,7 @@ public static final class Drivetrainc {
// kP, kI, and kD constants for turn motor controllers in the order of
// front-left, front-right, back-left, back-right.
// Determine correct turn PID constants
public static final double[] turnkP = { 0.00374, 0.00374, 0.00374, 0.00374 }; // {0.00374, 0.00374, 0.00374,
public static final double[] turnkP = { 51.078, 60.885, 60.946, 60.986 }; // {0.00374, 0.00374, 0.00374,
// 0.00374};
public static final double[] turnkI = { 0, 0, 0, 0 };
public static final double[] turnkD = { 0/* dont edit */, 0.5, 0.42, 1 }; // todo: use d
Expand Down Expand Up @@ -318,15 +325,15 @@ public static final class Drivetrainc {

// #region Ports

public static final int driveFrontLeftPort = CONFIG.isSwimShady() ? 18 : 11; //
public static final int driveFrontRightPort = CONFIG.isSwimShady() ? 10 : 19; //
public static final int driveBackLeftPort = CONFIG.isSwimShady() ? 19 : 14; //
public static final int driveBackRightPort = CONFIG.isSwimShady() ? 1 : 17; // correct
public static final int driveFrontLeftPort = 1; //
public static final int driveFrontRightPort = 2; //
public static final int driveBackLeftPort = 3; //
public static final int driveBackRightPort = 4; // correct

public static final int turnFrontLeftPort = CONFIG.isSwimShady() ? 17 : 12; //
public static final int turnFrontRightPort = CONFIG.isSwimShady() ? 9 : 20; // 20
public static final int turnBackLeftPort = CONFIG.isSwimShady() ? 20 : 15; //
public static final int turnBackRightPort = CONFIG.isSwimShady() ? 2 : 16; // correct
public static final int turnFrontLeftPort = 11; //
public static final int turnFrontRightPort = 12; // 20
public static final int turnBackLeftPort = 13; //
public static final int turnBackRightPort = 14; // correct

public static final int canCoderPortFL = CONFIG.isSwimShady() ? 1 : 0;
public static final int canCoderPortFR = CONFIG.isSwimShady() ? 3 : 3;
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