Constants.java

package org.firstinspires.ftc.teamcode;

@SuppressWarnings("unused")
public class Constants {
    public enum Commands { NONE, ROBOT_RESET, GYRO_RESET, DETERMINE_TEAM, INTAKE_IN, INTAKE_OUT, INTAKE_STOP}
    public enum Alliance { RED, BLUE, NONE }
    public static class Global {
        public static double stickDeadbandMin = 0.1; //10%, anything less than this is considered to be 0%
        public static double stickDeadbandMax = 0.95; //95%, anything over this is considered to be 100%
        public static double stickTurnMultiplier = 0.85; //85%, reduce turning power
    }
    public static class Auton {
        public static double autonDriveSpeed = 0.5;
        public static double autonStrafeSpeed = 0.6;
        public static boolean autonDriveStraight = false;
    }
    /*
        This class handles the set information for the goBILDA pinpoint odometry computer and odometry pods.
        The X pod tracks forward and backward movement.
        The Y pod tracks side-to-side movement (strafing).
        The tracking point normally is the center of the robot, but does not NEED to be.
        See: https://www.gobilda.com/content/user_manuals/3110-0002-0001%20User%20Guide.pdf
     */
    public static class Odometry {
        public static boolean usePinpoint = false; //if true, use the pinpoint odometry computer, false to use imu
        public static double xPodOffsetmm = 0.0; //distance (in mm) sideways from the tracking point (left+, right-)
        public static double yPodOffsetmm = 0.0; //distance (in mm) forward from the tracking point (forward+, backward-)
    }
    public static class Drivetrain {
        public static double defaultYawOffset = 0.0; //change default yaw offset for gyro
        public static boolean useFieldCentric = true; //try to use FC if gyro has value
        public static boolean useDriveStraight = false; //use DriveStraight correction
        public static boolean useInputSquaring = true; //use input squaring for better low end control
        public static double minPower = 0.05; //minimum power cutoff to save battery
        public static class woahNelly {
            public static boolean enabled = false; // use woahNelly system to slow down at obstacle
            public static double distance = 10.0;//Inches from obstacle to adjust throttle when aimed at obstacle
            public static double multiplier = 0.4;//Speed reduction
            public static double direction = 90; //direction for woahNelly
            public static double directionThreshold = 10.0; //degrees within direction for throttling
        }
        public static class turnController {
            public static double targetThreshold = 1.0; //how many degrees is close enough
            public static double kF = 0.00; //0.0 //minimum power to move the robot
            public static double kP = 0.055; //0.04
            public static double kI = 0.00011; //0.0006;
            public static double kIZone = 5.0; //I Zone for accumulating error
            public static double kD = 0.45; //0.004;
            public static class limits {
                public static double maxOutput = 0.55; //maximum output power
            }
        }
        public static class driveController {
            public static double ticksPerRev = 28;
            public static double gearReduction = 20;
            public static double wheelDiamMM = 75;
            public static double wheelCircumferenceMM = wheelDiamMM * Math.PI;
            public static double ticksPerMM = ticksPerRev * gearReduction / wheelCircumferenceMM;
            public static double ticksPerInch = ticksPerMM * 25.4;
            public static double targetThreshold = 1.0; //how many inches is close enough
            public static double targetThresholdTicks = targetThreshold * ticksPerInch;
            public static double kF = 0.15; //0.0 //minimum power to move the robot
            public static double kP = 0.0005;
            public static double kI = 0.00002;
            public static double kIZone = 5.0 * ticksPerInch; //I Zone for accumulating error
            public static double kD = 0.003;
            public static class limits {
                public static double maxOutput = 0.55; //maximum output power
            }
        }
    }

    public static class Intake {
        public enum Directions {
            IN(1.0),
            OUT(-1.0),
            STOP(0.0);
            private final double value;
            Directions(double value) { this.value = value; }
            public double getValue() { return this.value; }
        }
        public static boolean disabled = false; //true to disable intake
    }

    /**
     * The Manipulator constants relate to the top-end system above the drivetrain.
     * The manipulator contains 2 major parts, the elevator and the extend.
     * tilt - This controls the angle of the delivery "bucket" and ranges from ~-19 degrees (floor pickup) to ~+58 degrees (hanger) relative to the floor plane
     * elevator - This controls the length of the extended arm with the delivery bucket and ranges from 0 inches to 12.3 inches
     */
    public static class Manipulator {
        public enum Positions {
            //NAME(angle,length,distance)
            //tilt = (double) position of the tilt, in encoder counts, from the low limit switch reference
            //elevator = (double) length of the elevator, in inches (if useInches) or ticks
            //distance = (double) robot distance from backstage (-1 if not used)
            ZERO(0,0,-1.0),
            MANUAL(0,0,-1),
            START(0,0,-1.0),
            TRANSPORT(1200,645,-1.0), //650,1280
            SPECIMEN_LOW(1352,625,-1.0), //650,1280
            SPECIMEN_HIGH(3000,2720,-1.0), //1990,3860
            SPECIMEN_PICKUP(300,96,-1.0), //200,200
            SPECIMEN_GRAB(300,700, -1.0),
            SAMPLE_LOW(5700,2200,-1.0), //650,3400
            SAMPLE_HIGH(7200,4590,-1.0), //3750,8300
            SAMPLE_PICKUP(0,920,-1.0), //0,1280
            CLIMB_EXTEND(2890,4118,-1.0), //2400,6660
            CLIMB_READY(4400,3600,-1.0), //2820,6660
            CLIMB_UP(4400,3600,-1.0), //2820,4800
            CLIMB_LIFT(4400,375,-1.0), //3360,1287
            LIMIT(1600,4275,-1.0); //3800,8450
            final double tilt, elevator, distance;
            Positions(double tilt, double elevator, double distance) {
                this.tilt = tilt;
                this.elevator = elevator;
                this.distance = distance;
            }
            public double getTilt() { return this.tilt; }
            public double getElevator() { return this.elevator; }
            public double getDistance() { return this.distance; }
        }
        public static class tiltController {
            public static boolean disabled = false; //true to disable tilt controller
            public static double offsetStepSize = 90; //amount to change offset per request
            public static double homingSpeed = 0.1; //speed for homing to limit
            public static double targetThresholdTicks = 30; //how many encoder ticks is close enough
            public static double kF = 0.0; //0.0 //minimum power to move the motor
            public static double kP = 0.0015; //0.0015
            public static double kI = 0.0000010; //0.0000015
            public static double kIZone = 500.0; //I Zone for accumulating error
            public static double kD = 0.002; //0.002
            public static class limits {
                public static double minOutput = 0.07; //minimum power cutoff to save battery
                public static double maxOutput = 1.0; //maximum output power
                public static double minTicks = 0.0; //Minimum encoder ticks of target (at limit sw)
                public static double maxTicks = 9000.0; //Maximum encoder ticks of target (at limit sw)
            }
        }
        public static class elevatorController {
            public static boolean disabled = false; //true to disable elevator controller
            public static double offsetStepSize = 200; //amount to change offset per request
            public static double homingSpeed = 0.1; //speed for homing to limit
            public static double ticksPerRev = 28;
            public static double gearReduction = 100;
            public static double drumDiamInches = 1.3;
            public static double drumCircumferenceInches = drumDiamInches * Math.PI;
            public static double ticksPerInch = (ticksPerRev * gearReduction / drumCircumferenceInches) / 2; //2 stage elevator makes 2:1 reduction
            public static double targetThresholdTicks = 30; //targetThreshold * ticksPerInch;
            public static boolean useInches = false; //elevator positions are in inches
            public static double kF = 0.0; //0.0 //minimum power to move the motor
            public static double kP = 0.0025; //0.0010
            public static double kI = 0.000008; //0.000004
            public static double kIZone = 2.0 * ticksPerInch; //I Zone for accumulating error
            public static double kD = 0.002; //0.002
            public static class limits {
                public static double minOutput = 0.05; //minimum power cutoff to save battery
                public static double maxOutput = 1.00; //maximum output power
                public static double minLength = 0.0; //Minimum extended length of arm
                public static double maxLength = 24.6; //Maximum extended length of arm
                public static double maxTicks = 10000;
            }
        }
    }
}