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config.py
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config.py
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class Robot:
JOYSTICK_X_MAP_A = 0.75
JOYSTICK_Y_MAP_A = 0.75
JOYSTICK_TWIST_MAP_A = 0.5
JOYSTICK_DEADZONE = 0.05
JOYSTICK_AVERAGE_PERIOD = 0
CAMERA_YAW_POS_0 = 0.19
CAMERA_YAW_POS_1 = 0.90
class Drivetrain:
DRIVE_SPEED = 0.4
DRIVE_SLOW_SPEED = 0.1
DRIVE_TURN_SPEED = 0.3
VISION_RATIO = 0.5
class Shooter:
INTAKE_SPEED = 0.5
OUTTAKE_SPEED = 0.5
INTAKE_CONTROL_SPEED = 0.6
CONVEYOR_SPEED = 0.5
SHOOTER_SPEED_0 = 0.77
SHOOTER_SPEED_1 = 0.95
class Climber:
CLIMBER_LEFT_UP_SPEED = 0.60
CLIMBER_RIGHT_UP_SPEED = 0.45
WINCH_LEFT_FRONT_UP_SPEED = 1.0
WINCH_LEFT_BACK_UP_SPEED = 1.0
WINCH_RIGHT_FRONT_UP_SPEED = 1.0
WINCH_RIGHT_BACK_UP_SPEED = 1.0
CLIMBER_LEFT_DOWN_SPEED = 0.60
CLIMBER_RIGHT_DOWN_SPEED = 0.60
WINCH_LEFT_FRONT_DOWN_SPEED = 1.0
WINCH_LEFT_BACK_DOWN_SPEED = 1.0
WINCH_RIGHT_FRONT_DOWN_SPEED = 1.0
WINCH_RIGHT_BACK_DOWN_SPEED = 1.0
class Autonomous:
POS_1_FORWARD = 43.3
POS_1_TO_TRENCH = 66.9
POS_1_TRENCH = 156.3
POS_2_TRENCH_TURN = 17.9
POS_2_TURN = 29.1
POS_2_TO_TRENCH = 86.6
POS_2_TRENCH = 108
POS_3_SHOOT = 134.9
POS_3_TURN = 60.9
POS_3_TRENCH = 130.4
DRIVE_DISTANCE = 50.0
DS_8_TO_MID = 60.0
DS_8_TURN = 22.5
DS_8_FORWARD_MID = 86.3
DS_8_BACK_MID = 68.3
DS_SHOOT = 178.0
class Drivetrain:
ENCODER_RATIO = 1 / 1460
class Shooter:
CONVEYOR_INTAKE_SPEED = 0.85
CONVEYOR_SHOOT_SPEED = 0.85
class Ports:
CAMERA_SERVO_YAW = 1
class Drivetrain:
LEFT_0 = 1
LEFT_1 = 2
RIGHT_0 = 3
RIGHT_1 = 4
class Shooter:
INTAKE = 5
CONVEYOR = 7
CONVEYOR_PROX_FRONT = 8
CONVEYOR_PROX_BACK = 9
SHOOTER_LEFT = 11
SHOOTER_RIGHT = 12
SHOOTER_PISTON_0 = 5
SHOOTER_PISTON_1 = 7
class Climber:
CLIMBER_LEFT = 16
CLIMBER_RIGHT = 13
WINCH_LEFT_FRONT = 18
WINCH_LEFT_BACK = 17
WINCH_RIGHT_FRONT = 14
WINCH_RIGHT_BACK = 15
class Buttons:
class Joystick0:
CAMERA = 11
class Drivetrain:
VISION = 1
class Shooter:
CONVEYOR = 7
class Joystick1:
class Climber:
WINCH_LEFT_FRONT = 9
WINCH_LEFT_BACK = 11
WINCH_RIGHT_FRONT = 10
WINCH_RIGHT_BACK = 12
LEFT_UP = 5
LEFT_DOWN = 3
RIGHT_UP = 6
RIGHT_DOWN = 4
class Shooter:
INTAKE = 1
OUTTAKE = 2
SHOOT_0 = 7
SHOOT_1 = 8