conflict

Scorpions-Robotics · Mar 7, 2024 · 1d83155 · 1d83155
2 parents 408e3a3 + a518d76
commit 1d83155
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Showing 18 changed files with 611 additions and 603 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -7,8 +7,8 @@
 import edu.wpi.first.math.util.Units;
 
 public final class Constants {
-//bura acil konf
-  public static class ModuleConstants{
+  // bura acil konf
+  public static class ModuleConstants {
 
     public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
     public static final double kDriveMotorGearRatio = 1 / 6.75;
@@ -20,98 +20,93 @@ public static class ModuleConstants{
     public static final double kPTurning = 0.5;
   }
 
-  //bura acil konf
-      public static final class DriveConstants {
-
-        public static final double kTrackWidth = Units.inchesToMeters(23);
-        // Distance between right and left wheels
-        public static final double kWheelBase = Units.inchesToMeters(23);
-        // Distance between front and back wheels
-        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));
-
-                //burası tamam
-        public static final int kFrontLeftDriveMotorPort = 41;
-        public static final int kBackLeftDriveMotorPort = 3;
-        public static final int kFrontRightDriveMotorPort = 10;
-        public static final int kBackRightDriveMotorPort = 11;
-
-        public static final int kFrontLeftTurningMotorPort = 2;
-        public static final int kBackLeftTurningMotorPort = 1;
-        public static final int kFrontRightTurningMotorPort = 8;
-        public static final int kBackRightTurningMotorPort = 9;
-
-        //buraya kadar
-
-        public static final boolean kFrontLeftTurningEncoderReversed = false;
-        public static final boolean kBackLeftTurningEncoderReversed = false;
-        public static final boolean kFrontRightTurningEncoderReversed = false;
-        public static final boolean kBackRightTurningEncoderReversed =  false;
-
-        public static final boolean kFrontLeftDriveEncoderReversed = true;
-        public static final boolean kBackLeftDriveEncoderReversed = true;
-        public static final boolean kFrontRightDriveEncoderReversed = false;
-        public static final boolean kBackRightDriveEncoderReversed = false;
-
-        public static final int kFrontLeftDriveAbsoluteEncoderPort = 2;
-        public static final int kBackLeftDriveAbsoluteEncoderPort = 4;
-        public static final int kFrontRightDriveAbsoluteEncoderPort = 3;
-        public static final int kBackRightDriveAbsoluteEncoderPort = 1;
-
-
-
-        public static final boolean kFrontLeftDriveAbsoluteEncoderReversed = true;
-        public static final boolean kBackLeftDriveAbsoluteEncoderReversed = true;
-        public static final boolean kFrontRightDriveAbsoluteEncoderReversed = false;
-        public static final boolean kBackRightDriveAbsoluteEncoderReversed = false;
-
-        public static final double kFrontLeftDriveAbsoluteEncoderOffsetRad = -0.4101;
-        public static final double kBackLeftDriveAbsoluteEncoderOffsetRad = -0.1276;
-        public static final double kFrontRightDriveAbsoluteEncoderOffsetRad = -0.216064;
-        public static final double kBackRightDriveAbsoluteEncoderOffsetRad = -0.126221;
-
-        public static final double kPhysicalMaxSpeedMetersPerSecond = 3;
-        public static final double kPhysicalMaxAngularSpeedRadiansPerSecond = 4 * 2 * Math.PI;
-
-        public static final double kTeleDriveMaxSpeedMetersPerSecond = kPhysicalMaxSpeedMetersPerSecond / 4;
-        public static final double kTeleDriveMaxAngularSpeedRadiansPerSecond = //
-                kPhysicalMaxAngularSpeedRadiansPerSecond / 4;
-        public static final double kTeleDriveMaxAccelerationUnitsPerSecond = 10;
-        public static final double kTeleDriveMaxAngularAccelerationUnitsPerSecond = 10;
-    }
-
-    //bura acil
-    public static final class OIConstants {
-      public static final int kDriverControllerPort = 0;
-      public static final int kDriverYAxis = 1;
-      public static final int kDriverXAxis = 0;
-      public static final int kDriverRotAxis = 4;
-      public static final int kDriverFieldOrientedButtonIdx = 1;
-
-      public static final double kDeadband = 0.05;
+  // bura acil konf
+  public static final class DriveConstants {
+
+    public static final double kTrackWidth = Units.inchesToMeters(23);
+    // Distance between right and left wheels
+    public static final double kWheelBase = Units.inchesToMeters(23);
+    // Distance between front and back wheels
+    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));
+
+    // burası tamam
+    public static final int kFrontLeftDriveMotorPort = 41;
+    public static final int kBackLeftDriveMotorPort = 3;
+    public static final int kFrontRightDriveMotorPort = 10;
+    public static final int kBackRightDriveMotorPort = 11;
+
+    public static final int kFrontLeftTurningMotorPort = 2;
+    public static final int kBackLeftTurningMotorPort = 1;
+    public static final int kFrontRightTurningMotorPort = 8;
+    public static final int kBackRightTurningMotorPort = 9;
+
+    // buraya kadar
+
+    public static final boolean kFrontLeftTurningEncoderReversed = false;
+    public static final boolean kBackLeftTurningEncoderReversed = false;
+    public static final boolean kFrontRightTurningEncoderReversed = false;
+    public static final boolean kBackRightTurningEncoderReversed = false;
+
+    public static final boolean kFrontLeftDriveEncoderReversed = true;
+    public static final boolean kBackLeftDriveEncoderReversed = true;
+    public static final boolean kFrontRightDriveEncoderReversed = false;
+    public static final boolean kBackRightDriveEncoderReversed = false;
+
+    public static final int kFrontLeftDriveAbsoluteEncoderPort = 2;
+    public static final int kBackLeftDriveAbsoluteEncoderPort = 4;
+    public static final int kFrontRightDriveAbsoluteEncoderPort = 3;
+    public static final int kBackRightDriveAbsoluteEncoderPort = 1;
+
+    public static final boolean kFrontLeftDriveAbsoluteEncoderReversed = true;
+    public static final boolean kBackLeftDriveAbsoluteEncoderReversed = true;
+    public static final boolean kFrontRightDriveAbsoluteEncoderReversed = false;
+    public static final boolean kBackRightDriveAbsoluteEncoderReversed = false;
+
+    public static final double kFrontLeftDriveAbsoluteEncoderOffsetRad = -0.4101;
+    public static final double kBackLeftDriveAbsoluteEncoderOffsetRad = -0.1276;
+    public static final double kFrontRightDriveAbsoluteEncoderOffsetRad = -0.216064;
+    public static final double kBackRightDriveAbsoluteEncoderOffsetRad = -0.126221;
+
+    public static final double kPhysicalMaxSpeedMetersPerSecond = 3;
+    public static final double kPhysicalMaxAngularSpeedRadiansPerSecond = 4 * 2 * Math.PI;
+
+    public static final double kTeleDriveMaxSpeedMetersPerSecond = kPhysicalMaxSpeedMetersPerSecond / 4;
+    public static final double kTeleDriveMaxAngularSpeedRadiansPerSecond = //
+        kPhysicalMaxAngularSpeedRadiansPerSecond / 4;
+    public static final double kTeleDriveMaxAccelerationUnitsPerSecond = 10;
+    public static final double kTeleDriveMaxAngularAccelerationUnitsPerSecond = 10;
   }
 
+  // bura acil
+  public static final class OIConstants {
+    public static final int kDriverControllerPort = 0;
+    public static final int kDriverYAxis = 1;
+    public static final int kDriverXAxis = 0;
+    public static final int kDriverRotAxis = 4;
+    public static final int kDriverFieldOrientedButtonIdx = 1;
 
+    public static final double kDeadband = 0.05;
+  }
 
   public static final class AutoConstants {
-        public static final double kMaxSpeedMetersPerSecond = DriveConstants.kPhysicalMaxSpeedMetersPerSecond / 4;
-        public static final double kMaxAngularSpeedRadiansPerSecond = //
-                DriveConstants.kPhysicalMaxAngularSpeedRadiansPerSecond / 10;
-        public static final double kMaxAccelerationMetersPerSecondSquared = 3;
-        public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI / 4;
-        public static final double kPXController = 1.5;
-        public static final double kPYController = 1.5;
-        public static final double kPThetaController = 3;
-
-        public static final TrapezoidProfile.Constraints kThetaControllerConstraints = //
-                new TrapezoidProfile.Constraints(
-                        kMaxAngularSpeedRadiansPerSecond,
-                        kMaxAngularAccelerationRadiansPerSecondSquared);
-    }
-
+    public static final double kMaxSpeedMetersPerSecond = DriveConstants.kPhysicalMaxSpeedMetersPerSecond / 4;
+    public static final double kMaxAngularSpeedRadiansPerSecond = //
+        DriveConstants.kPhysicalMaxAngularSpeedRadiansPerSecond / 10;
+    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
+    public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI / 4;
+    public static final double kPXController = 1.5;
+    public static final double kPYController = 1.5;
+    public static final double kPThetaController = 3;
+
+    public static final TrapezoidProfile.Constraints kThetaControllerConstraints = //
+        new TrapezoidProfile.Constraints(
+            kMaxAngularSpeedRadiansPerSecond,
+            kMaxAngularAccelerationRadiansPerSecondSquared);
+  }
 
   public static class ports {
     public static final int intake_motor_note = 0;
@@ -126,54 +121,51 @@ public static class controller {
     public static final int controller = 1;
   }
 
-/*
-   ___           __ _                    _   _            _____     _    _     
- / __|___ _ _  / _(_)__ _ _  _ _ _ __ _| |_(_)___ _ _   |_   _|_ _| |__| |___ 
-| (__/ _ \ ' \|  _| / _` | || | '_/ _` |  _| / _ \ ' \    | |/ _` | '_ \ / -_)
- \___\___/_||_|_| |_\__, |\_,_|_| \__,_|\__|_\___/_||_|   |_|\__,_|_.__/_\___|
-                    |___/                                                     
-                  
- */
+  /*
+   * ___ __ _ _ _ _____ _ _
+   * / __|___ _ _ / _(_)__ _ _ _ _ _ __ _| |_(_)___ _ _ |_ _|_ _| |__| |___
+   * | (__/ _ \ ' \| _| / _` | || | '_/ _` | _| / _ \ ' \ | |/ _` | '_ \ / -_)
+   * \___\___/_||_|_| |_\__, |\_,_|_| \__,_|\__|_\___/_||_| |_|\__,_|_.__/_\___|
+   * |___/
+   * 
+   */
 
   public static class values {
 
     public static class intake {
-    public static final double GetNoteValue = 1;
-    public static final double PidIntakeTolerance = 1;
-    public static final double PidIntakeKP = 1;
-    public static final double PidIntakeKI = 0;
-    public static final double PidIntakeKD = 0;
-}
-
-
+      public static final double GetNoteValue = 1;
+      public static final double PidIntakeTolerance = 1;
+      public static final double PidIntakeKP = 1;
+      public static final double PidIntakeKI = 0;
+      public static final double PidIntakeKD = 0;
+    }
 
-public static class shooter {
-  public static final double AngleMotorOpenLoopRampRate = 0.5;
-  public static final double PidShooterAngleTolerance = 0.1;
-  public static final double PidShooterAngleKP = 0.05;
-  public static final double PidShooterAngleKI = 0;
-  public static final double PidShooterAngleKD = 0;
+    public static class shooter {
+      public static final double AngleMotorOpenLoopRampRate = 0.5;
+      public static final double PidShooterAngleTolerance = 0.1;
+      public static final double PidShooterAngleKP = 0.05;
+      public static final double PidShooterAngleKI = 0;
+      public static final double PidShooterAngleKD = 0;
 
-  public static final double PidShooterShootKP = 1;
-  public static final double PidShooterShootKI = 0;
-  public static final double PidShooterShootKD = 0;
-  public static final double PidShooterRPMTolerance = 25;
-
-}
+      public static final double PidShooterShootKP = 1;
+      public static final double PidShooterShootKI = 0;
+      public static final double PidShooterShootKD = 0;
+      public static final double PidShooterRPMTolerance = 25;
 
+    }
 
-public static class positions {
+    public static class positions {
 
-  public static final double FeedingPositionIntake = 1;
-  public static final double FeedingPositionShooter = 1;
+      public static final double FeedingPositionIntake = 1;
+      public static final double FeedingPositionShooter = 1;
 
-}
+    }
 
-public static class feeder {
+    public static class feeder {
 
-  public static final double FeederForwardSpeed = 0.7;
-  public static final double FeederBackwardSpeed = -0.7;
+      public static final double FeederForwardSpeed = 0.7;
+      public static final double FeederBackwardSpeed = -0.7;
 
-}
+    }
   }
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -9,7 +9,6 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.subsystems.ShooterSubsystem;
 
-
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
@@ -21,20 +20,19 @@ public void robotInit() {
     m_robotContainer = new RobotContainer();
   }
 
-
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
   }
 
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+  }
 
   @Override
   public void disabledPeriodic() {
-
-  }
 
+  }
 
   @Override
   public void autonomousInit() {
@@ -46,7 +44,8 @@ public void autonomousInit() {
   }
 
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
   public void teleopInit() {
@@ -56,19 +55,23 @@ public void teleopInit() {
   }
 
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   @Override
   public void testInit() {
     CommandScheduler.getInstance().cancelAll();
   }
 
   @Override
-  public void testPeriodic() {}
+  public void testPeriodic() {
+  }
 
   @Override
-  public void simulationInit() {}
+  public void simulationInit() {
+  }
 
   @Override
-  public void simulationPeriodic() {}
+  public void simulationPeriodic() {
+  }
 }