Drive/Constants.java at main · cizmer/Drive · GitHub

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package frc.robot;

import edu.wpi.first.math.geometry.Translation2d;

public final class Constants {
    public static final class DriveConstants {

        public static final int kFrontLeftChannel = 5;
        public static final int kRearLeftChannel = 2;
        public static final int kFrontRightChannel = 4;
        public static final int kRearRightChannel = 3;
        public static final double driveDistancePerPulse = 0.01;
        public static final double STEER_K = 0.003;                    // how hard to turn toward the target
        public static final double DRIVE_K = 0.01;                    // how hard to drive fwd toward the target
        public static final double DESIRED_TARGET_AREA = 13.0;        // Area of the target when the robot reaches the wall
        public static final double MAX_DRIVE = 0.7;                   // Simple speed limit so we don't drive too fast

    }


    public static final class ElevatorConstants {
        public static double kDt = 0.02;
        public static double kMaxVelocity = 1.75;
        public static double kMaxAcceleration = 0.75;
        public static double kP = 1.3;
        public static double kI = 0.0;
        public static double kD = 0.7;
        public static double kS = 1.1;
        public static double kG = 1.2;
        public static double kV = 1.3;
    }

    public static final class OdometryConstants {
        public static final Translation2d frontLeftWheelMeters = new Translation2d(-0.29845, 0.27305);
        public static final Translation2d frontRightWheelMeters = new Translation2d(0.29845, 0.27305);
        public static final Translation2d rearLeftWheelMeters = new Translation2d(-0.29845, -0.27305);
        public static final Translation2d rearRightWheelMeters = new Translation2d(0.29845, -0.27305);

    }
}