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Sorted the Constants file into two separate files. #10

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50 changes: 3 additions & 47 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,6 @@

package frc.robot;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.RobotBase;

/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be declared
Expand All @@ -15,53 +12,12 @@
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
*/
public final class Constants {

public enum Mode {
/**
* Running on a real robot.
*/
REAL,
/**
* Running a physics simulator.
*/
SIM,
/**
* Replaying from a log file.
*/
REPLAY
}

// Mode
public static final Mode simMode = Mode.SIM;
// public static final Mode simMode = Mode.REPLAY;

public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;

public static final int NEO_CURRENT_LIMIT = 20;

// Logging
public static final long MAX_LOG_TIME_WAIT = 10;
public static final boolean ENABLE_LOGGING = true;

public static final boolean DEBUG = true;
public final class Constants extends GameConstants{

public static final int ROLLER_MOTOR_ID = 1;
public static final int TILT_MOTOR_ID = 2;
public static final int INTAKE_MOTOR_ID = 3;

public static final double ROLLER_SPEED = 0.25;
public static final double TILT_SPEED = -0.5; // Arm motor is inverted - use negative speed
public static final double INTAKE_SPEED = -0.5;
public static final double SPIN_TIMEOUT = 5;
public static final double TILT_TIMEOUT = 5;
public static final double TILT_LENGTH = 0.2;
public static final Rotation2d TILT_MIN_ANGLE = Rotation2d.fromDegrees(45);
public static final Rotation2d TILT_MAX_ANGLE = Rotation2d.fromDegrees(90);
public static final double TILT_INERTIA = 0.5;
public static final double TILT_GEARING = 45.0;
public static final boolean TILT_SIMULATE_GRAVITY = false;

public static final boolean ARM_DEBUG = true;

public static final double DRIVE_BASE_WIDTH = 0.635;
public static final double DRIVE_BASE_LENGTH = 0.635;
public static final double INITIAL_ROBOT_HEIGHT = 0;
Expand Down
55 changes: 55 additions & 0 deletions src/main/java/frc/robot/GameConstants.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
package frc.robot;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.RobotBase;

public class GameConstants {

public enum Mode {
/**
* Running on a real robot.
*/
REAL,
/**
* Running a physics simulator.
*/
SIM,
/**
* Replaying from a log file.
*/
REPLAY
}

// Mode
public static final Mode simMode = Mode.SIM;
// public static final Mode simMode = Mode.REPLAY;
public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;

// Logging
public static final long MAX_LOG_TIME_WAIT = 10;
public static final boolean ENABLE_LOGGING = true;

//Debugs
public static final boolean DEBUG = true;
public static final boolean ARM_DEBUG = true;

//Speeds
public static final double ROLLER_SPEED = 0.25;
public static final double TILT_SPEED = -0.5; // Arm motor is inverted - use negative speed
public static final double INTAKE_SPEED = -0.5;

//Timeouts
public static final double SPIN_TIMEOUT = 5;
public static final double TILT_TIMEOUT = 5;

//Angles
public static final Rotation2d TILT_MIN_ANGLE = Rotation2d.fromDegrees(45);
public static final Rotation2d TILT_MAX_ANGLE = Rotation2d.fromDegrees(90);

public static final double TILT_LENGTH = 0.2;
public static final double TILT_INERTIA = 0.5;
public static final double TILT_GEARING = 45.0;
public static final boolean TILT_SIMULATE_GRAVITY = false;
public static final int NEO_CURRENT_LIMIT = 20;

}