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WIP - Clean dt #17

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aa47194
started cleaning up constants.java
timtogan Mar 4, 2026
eb44b7f
Drivetrain.java clean up
timtogan Mar 4, 2026
d970c98
make Drivetrain use dynamic motor controller type based on config
timtogan Mar 4, 2026
2a91bff
bye bye sysid
timtogan Mar 5, 2026
f43fe00
clean up dt
timtogan Mar 6, 2026
f964853
simplify dt module creation
timtogan Mar 6, 2026
23e76a9
organize imports
timtogan Mar 6, 2026
8099fc7
more dt clean up
timtogan Mar 6, 2026
6a87815
fix dt
timtogan Mar 6, 2026
644e1d7
Merge branch 'master' into cleanDt
DriverStationComputer Mar 7, 2026
ee5508c
more dt clean up
timtogan Mar 10, 2026
e0ad68c
Merge branch 'cleanDt' of https://github.com/DeepBlueRobotics/KitBot2…
DriverStationComputer Mar 10, 2026
f42f7cb
Merge branch 'master' into cleanDt
timtogan Mar 13, 2026
37cc82f
smartDashbboard
timtogan Mar 13, 2026
f231eeb
more dt clean up
timtogan Mar 15, 2026
7dafcc9
fix some dt bugs
timtogan Mar 15, 2026
44c9406
autoMaxSpeedMps
DriverStationComputer Apr 17, 2026
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4 changes: 2 additions & 2 deletions src/main/java/org/carlmontrobotics/Config.java
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Expand Up @@ -22,8 +22,8 @@ public abstract class Config implements Sendable {

// Add additional config settings by declaring a protected field, and...
protected boolean exampleFlagEnabled = false;
protected boolean vortexDrive = false;
protected boolean hammerHead = false;
protected boolean hammerHead = true;
protected boolean vortexDrive = hammerHead;
protected boolean setupSysId = false;
protected boolean useSmartDashboardControl = false; // whether to control arm position + rpm of
// outtake through SmartDashboard
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145 changes: 66 additions & 79 deletions src/main/java/org/carlmontrobotics/Constants.java
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Expand Up @@ -64,97 +64,93 @@ public static final class Manipulator {

//#region Drivetrain
public static final class Drivetrainc {
//general drivetrain constants

public static final int driveFrontLeftPort = 1;
public static final int driveFrontRightPort = 2;
public static final int driveBackLeftPort = 3;
public static final int driveBackRightPort = 4;

public static final int turnFrontLeftPort = 11;
public static final int turnFrontRightPort = 12;
public static final int turnBackLeftPort = 13;
public static final int turnBackRightPort = 14;

public static final MotorConfig driveMotorConfig = CONFIG.isVortexDrive() ? MotorConfig.NEO_VORTEX : MotorConfig.NEO;
public static final MotorConfig turnMotorConfig = MotorConfig.NEO;
//TODO: set hammerhead can coder ports the same as kitbot
public static final int canCoderPortFL = CONFIG.isHammerHead() ? 0 : 1;
public static final int canCoderPortFR = CONFIG.isHammerHead() ? 1 : 2;
public static final int canCoderPortBL = CONFIG.isHammerHead() ? 3 : 3;
public static final int canCoderPortBR = CONFIG.isHammerHead() ? 2 : 0;

public static final int drivePorts[] = { driveFrontLeftPort, driveFrontRightPort, driveBackLeftPort, driveBackRightPort };
public static final int turnPorts[] = { turnFrontLeftPort, turnFrontRightPort, turnBackLeftPort, turnBackRightPort };
public static final int canCoderPorts[] = { canCoderPortFL, canCoderPortFR, canCoderPortBL, canCoderPortBR };

// swerve config constants
public static final double wheelBase = CONFIG.isHammerHead() ? Units.inchesToMeters(16.750003) : Units.inchesToMeters(20.5);
public static final double trackWidth = CONFIG.isHammerHead() ? Units.inchesToMeters(23.750000) : Units.inchesToMeters(20.5);
// "swerveRadius" is the distance from the center of the robot to one of the modules
public static final double swerveRadius = Math.sqrt(Math.pow(wheelBase / 2, 2) + Math.pow(trackWidth / 2, 2));
// The gearing reduction from the drive motor controller to the wheels

public static final double swerveRadius = Math.sqrt(Math.pow(wheelBase / 2, 2) + Math.pow(trackWidth / 2, 2));
public static final double wheelDiameterMeters = Units.inchesToMeters(4.0);
public static final double driveGearing = 6.86; //if no worky try 8.16
// Turn motor shaft to "module shaft"
public static final double turnGearing = 12.8;
public static final double mu = 1; /* 70/83.2; */ // coefficient of friction. less means less max acceleration.
public static final double autoCentripetalAccel = mu * g * 2;
public static final double[] kForwardVolts = CONFIG.isHammerHead() ? new double[] { 0.2,0.2,0.2,0.2 }: //kS
new double[] {0, 0, 0, 0};
public static final double[] kForwardVels = CONFIG.isHammerHead() ? new double[] { 0,0,0,0 } : //kV
new double[] { 2.9875, 2.9875, 2.7323, 2.9264 };
public static final double[] kForwardAccels = { 0, 0, 0, 0 };//{0.31958, 0.33557, 0.70264, 0.46644}; //{ 0, 0, 0, 0 };// volts per m/s^2
public static final double[] kBackwardVolts = kForwardVolts;
public static final double[] kBackwardVels = kForwardVels;
public static final double[] kBackwardAccels = kForwardAccels;

public static final double[] drivekP = {2, 2, 2, 2};
public static final double[] drivekI = {0, 0, 0, 0};
public static final double[] drivekD = CONFIG.isHammerHead()? new double[] { 0, 0, 0, 0 }:
new double[] { 0,0,0,0 };
public static final double[] turnkP = CONFIG.isHammerHead() ? new double[] {50, 50, 50, 50} :
new double[] {40, 40, 40, 40}; //good starting point
public static final double[] turnkI = {0, 0, 0, 0};
public static final double[] turnkD = {0, 0, 0, 0};
public static final double[] turnkS = {0.2, 0.2, 0.2, 0.2};
public static final double[] turnkV = {2, 2, 2, 2};
public static final double[] turnkA = {0, 0, 0, 0};
public static final double[] turnZeroDeg = CONFIG.isHammerHead() ? new double[] { 85.7812, 85.0782, -96.9433, -162.9492 } :
new double[] { -38.232421875, -156.4453125, -7.3828125, -41.66015625 };
public static final boolean[] driveInversion = CONFIG.isHammerHead() ? new boolean[] { true, false, true, false } :
new boolean[] { false, false, false, false };
public static final boolean[] reversed = { false, false, false, false };
public static final double driveModifier = 1;
public static final double wheelDiameterMeters = Units.inchesToMeters(4.0);

public static final double mu = 1; /* 70/83.2; */ // coefficient of friction. less means less max acceleration.
public static final double ROBOTMASS_KG = Units.lbsToKilograms(80);// TODO weigh actual robot with bumpers and battery later
// moment of inertia, kg/mm
// USE ONSHAPE it has a calculator for this
public static final double MOI = Math.pow(Units.inchesToMeters(1),2) * Units.lbsToKilograms(1) * 14040.21738; // 14040.21738 in^2 lb
public static final boolean[] turnInversion = {false, false, false, false};

public static final double turnGearing = 12.8; //150/7
public static final double ROBOTMASS_KG = CONFIG.isHammerHead() ? 35.49159484 : 48.582;
public static final double MOI = CONFIG.isHammerHead() ? 4.10872647 : 5.38619461; // moment of inertia, kg/m^2, Lzz in onshape
public static final double NEOFreeSpeed = 5676 * (2 * Math.PI) / 60; // radians/s
public static final double VortexFreeSpeed = 6784 * (2 * Math.PI) / 60; // radians/s
// Angular speed to translational speed --> v = omega * r / gearing
public static final double maxSpeed = (CONFIG.isVortexDrive() ? VortexFreeSpeed : NEOFreeSpeed) * (wheelDiameterMeters / 2.0) / driveGearing; // meter/s
public static final double maxForward = maxSpeed; // todo: use smart dashboard to figure this out
public static final double maxStrafe = maxSpeed; // todo: use smart dashboard to figure this out
public static final double maxForward = maxSpeed;
public static final double maxStrafe = maxSpeed;
// seconds it takes to go from 0 to 12 volts(aka MAX)
public static final double secsPer12Volts = 0.1;

// maxRCW is the angular velocity of the robot.
// Calculated by looking at one of the motors and treating it as a point mass
// moving around in a circle.
// Tangential speed of this point mass is maxSpeed and the radius of the circle
// is sqrt((wheelBase/2)^2 + (trackWidth/2)^2)
// Angular velocity = Tangential speed / radius
public static final double maxRCW = maxSpeed / swerveRadius;

public static final boolean[] reversed = { false, false, false, false };
// public static final boolean[] reversed = {true, true, true, true};
// Determine correct turnZero constants (FL, FR, BL, BR)
public static final double[] turnZeroDeg = RobotBase.isSimulation() ? new double[] {-90.0, -90.0, -90.0, -90.0 }
: (CONFIG.isHammerHead() ? new double[] { 85.7812, 85.0782, -96.9433, -162.9492 }
: new double[] { -38.232421875, -156.4453125, -7.3828125, -41.66015625 });/* real values here */

// kP, kI, and kD constants for turn motor controllers in the order of
// front-left, front-right, back-left, back-right.
// Determine correct turn PID constants
public static final double[] turnkP = CONFIG.isHammerHead() ? new double[] {50,50,50,50} :
new double[]{40,40,40,40}; //good starting point

public static final double[] turnkI = CONFIG.isHammerHead() ? new double[] {0, 0, 0, 0} :
new double[] {0,0,0,0};
public static final double[] turnkD = CONFIG.isHammerHead() ? new double[] {0, 0, 0, 0 } :
new double[] {0,0,0,0};

public static final double[] turnkS = new double[]{ 0.2, 0.2, 0.2, 0.2};
public static final double[] turnkV = new double[] { 2, 2, 2, 2 };//good starting point
public static final double[] turnkA = new double[] { 0, 0, 0, 0 };

// Order of modules: (FL, FR, BL, BR)
public static final double[] drivekP = CONFIG.isHammerHead() ? new double[] {2, 2, 2, 2}:
new double[] {2, 2, 2, 2}; //Good starting point
public static final double[] drivekI = CONFIG.isHammerHead() ? new double[]{ 0, 0, 0, 0} :
new double[] {0, 0, 0, 0};
public static final double[] drivekD = CONFIG.isHammerHead()? new double[] { 0, 0, 0, 0 }:
new double[] { 0,0,0,0 };
public static final boolean[] driveInversion = (CONFIG.isHammerHead()
? new boolean[] { true, false, true, false }
: new boolean[] { false, false, false, false });
public static final boolean[] turnInversion = { false, false, false, false };

// kS
public static final double[] kForwardVolts = CONFIG.isHammerHead() ? new double[] {0,0,0,0 }:
new double[] {0, 0, 0, 0}; //HIGHLY NOT RECOMMENDED can cause drift keep at 0 is better
public static final double[] kBackwardVolts = kForwardVolts;

//kV
public static final double[] kForwardVels = CONFIG.isHammerHead() ? new double[] { 0,0,0,0 }:
new double[] { 0, 0, 0, 0 };
public static final double[] kBackwardVels = kForwardVels;

//kA
public static final double[] kForwardAccels = { 0, 0, 0, 0 };
public static final double[] kBackwardAccels = kForwardAccels;

public static final double autoMaxSpeedMps = 4.3 ; // Meters / second
public static final double autoMaxSpeedMps = 2 ; // Meters / second
public static final double autoMaxAccelMps2 = mu * g; // Meters / seconds^2
public static final double autoMaxAmps = 40.0;
// The maximum acceleration the robot can achieve is equal to the coefficient of
// static friction times the gravitational acceleration
// a = mu * 9.8 m/s^2
public static final double autoCentripetalAccel = mu * g * 2;

public static final boolean isGyroReversed = true;

Expand All @@ -166,21 +162,6 @@ public static final class Drivetrainc {
kBackwardAccels, drivekP, drivekI, drivekD, turnkP, turnkI, turnkD, turnkS, turnkV, turnkA, turnZeroDeg,
driveInversion, reversed, driveModifier, turnInversion);

public static final int driveFrontLeftPort = CONFIG.isHammerHead() ? 1 : 1;
public static final int driveFrontRightPort = CONFIG.isHammerHead() ? 2 : 12;
public static final int driveBackLeftPort = CONFIG.isHammerHead() ? 3 : 14;
public static final int driveBackRightPort = CONFIG.isHammerHead() ? 4 : 13;

public static final int turnFrontLeftPort = CONFIG.isHammerHead() ? 11 : 11;
public static final int turnFrontRightPort = CONFIG.isHammerHead() ? 12 : 2;
public static final int turnBackLeftPort = CONFIG.isHammerHead() ? 13 : 4;
public static final int turnBackRightPort = CONFIG.isHammerHead() ? 14 : 3;

public static final int canCoderPortFL = CONFIG.isHammerHead() ? 0 : 0;
public static final int canCoderPortFR = CONFIG.isHammerHead() ? 1 : 1;
public static final int canCoderPortBL = CONFIG.isHammerHead() ? 3 : 3;
public static final int canCoderPortBR = CONFIG.isHammerHead() ? 2 : 2;

public static double kNormalDriveSpeed = 1; // Percent Multiplier
public static double kNormalDriveRotation = 0.5; // Percent Multiplier
public static double kSlowDriveSpeed = 0.4; // Percent Multiplier
Expand All @@ -206,6 +187,12 @@ public static final class Drivetrainc {

public static final double driveIzone = .1;
public static final double COLLISION_ACCELERATION_THRESHOLD = 2; //The minimum acceleration that will trigger a collision detection, in m/s^2
public static final double ppkPDrive = 5;
public static final double ppkIDrive = 0;
public static final double ppkDDrive = 0;
public static final double ppkPTurn = 3;
public static final double ppkITurn = 0;
public static final double ppkDTurn = 0;
public static final class Autoc {
public static final RobotConfig robotConfig = new RobotConfig(
// Mass mass, kg
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