FTC-Template/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java at master · SHP-Robotics/FTC-Template · GitHub

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package org.firstinspires.ftc.teamcode;

import com.acmerobotics.dashboard.config.Config;

import org.firstinspires.ftc.teamcode.shplib.controllers.FFController;

@Config
public class Constants {
    // Target voltage for voltage compensation
    public static final double kNominalVoltage = 12.0;

    public static final class Drive {
        public static final String[] kMotorNames = new String[]{
                "leftFront",
                "leftRear",
                "rightFront",
                "rightRear"
        };
        public static final FFController[] kFFs = new FFController[]{
                new FFController(0.047),
                new FFController(0.07),
                new FFController(0.045),
                new FFController(0.035)
        };
        public static final double kMinimumBias = 0.3;
        public static final double kMaximumBias = 0.6;
    }

    public static final class Vision {
        public static final double kTagsizeMeters = 0.0475;
    }

    public static final class Arm {
        public static final String kClawName = "claw";
        public static final double kClawOpen = 0.4;
        public static final double kClawClosed = 0.7;

        public static final String kLeftSlideName = "leftSlide";
        public static final String kRightSlideName = "rightSlide";

        public static final double kSlideBottom = 10.0;
        public static final double kSlideHub = 200.0;
        public static final double kSlideLow = 1000.0;
        public static final double kSlideMiddle = 2500.0;
        public static final double kSlideHigh = 4000.0;
        public static final double kSlideStackDistance = 150.0;

        public static final double kSlideP = 0.0018;
        public static final double kSlideD = 0;
        public static final double kSlideTolerance = 100;

        public static final double kSlideS = 0.035; // static friction
        public static final double kSlideG = 0.07; // gravity
    }
}