LRT13  1.0
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RobotConfig.h
1 #ifndef ROBOT_CONFIG_H_
2 #define ROBOT_CONFIG_H_
3 #include <string>
4 
9 #define CHANGEME 99
10 
11 namespace RobotConfig
12 {
13 const uint32_t LOOP_RATE = 50; //hertz
14 const double ROBOT_WIDTH = 26.1;
15 const std::string CONFIG_FILE_PATH = "/LRT13.conf";
16 const std::string ROUTINE_FILE_PATH = "/Autonomous.routine";
17 const uint32_t MAX_GAME_PIECES = 4;
18 const double MAX_VOLTAGE = 13;
19 
20 namespace Drive
21 {
22  const uint32_t THROTTLE_COEFFICIENT = 1;
23  const uint32_t THROTTLE_EXPONENT = 1; // must be odd
24  const uint32_t BLEND_COEFFICIENT = 1;
25  const uint32_t BLEND_EXPONENT = 1;
26  const double DEADBAND = 0.03;
27 }
28 
29 namespace AutoActions
30 {
31  const uint32_t AUTO_AIM_TIMEOUT = 500; //cycles
32 }
33 
34 namespace Analog // Ports 1-7
35 {
36  const uint32_t PRESSURE_A = 7;
37  const uint32_t PRESSURE_B = 6;
38 }
39 
40 namespace Digital // Ports 1-14
41 {
42  const uint32_t LEFT_DRIVE_ENCODER_A = 1;
43  const uint32_t LEFT_DRIVE_ENCODER_B = 2;
44  const uint32_t WINCH_GEAR_TOOTH = 3;
45  const uint32_t PROXIMITY_SHOOTER = 4;
46  const uint32_t PROXIMITY_COLLECTOR = 5;
47  const uint32_t HALL_EFFECT_A = 6;
48  const uint32_t HALL_EFFECT_B = 7;
49  const uint32_t PTO_SWITCH_LEFT = 9;
50  const uint32_t PTO_SWITCH_RIGHT = 10;
51  const uint32_t RIGHT_DRIVE_ENCODER_A = 11;
52  const uint32_t RIGHT_DRIVE_ENCODER_B = 12;
53 // const uint32_t LED_DATA_OUT = 13;
54  const uint32_t FLASHLIGHT = 13; // Flashlight change
55  const uint32_t COMPRESSOR_PRESSURE_SENSOR_PIN = 14;
56  const uint32_t TWOCAN_MOSFET = CHANGEME;
57  const uint32_t SPI_MOSI = CHANGEME;
58  const uint32_t SPI_MISO = CHANGEME;
59  const uint32_t SPI_SCLK = CHANGEME;
60  const uint32_t SPI_SS = CHANGEME;
61 }
62 
63 namespace Solenoid // Ports 1-8
64 {
65  const uint32_t COLLECTOR_A = 1;
66  const uint32_t COLLECTOR_B = 2;
67  const uint32_t CLIMBER_A = 3;
68  const uint32_t CLIMBER_B = 4;
69  const uint32_t HOOKS = 5;
70 // const uint32_t HOOKS_A = 5;
71 // const uint32_t HOOKS_B = 6;
72  const uint32_t STORAGE_EXIT_A = 1; // Module 2
73  const uint32_t STORAGE_EXIT_B = 2; // Module 2
74  const uint32_t SHOOTER_ANGLER_A = 7;
75  const uint32_t SHOOTER_ANGLER_B = 8;
76 }
77 
78 namespace Relay // Ports 1-8
79 {
80  const uint32_t COMPRESSOR_RELAY = 1;
81  const uint32_t FLASHLIGHT = 2;
82 }
83 
84 namespace CAN // Ports 1-16 (2CAN limitation)
85 {
86  const uint32_t LEFT_DRIVE_A = 1;
87  const uint32_t LEFT_DRIVE_B = 14; //4
88  const uint32_t RIGHT_DRIVE_A = 2;
89  const uint32_t RIGHT_DRIVE_B = 3;
90  const uint32_t COLLECTOR = 10; //8//13 on practice bot
91  const uint32_t SHOOTER_A = 7;
92  const uint32_t SHOOTER_B = 5;
93  const uint32_t WINCH_WORM = 6;
94 }
95 
96 namespace PWM
97 {
98  const uint32_t LEFT_PTO_SERVO = 1;
99  const uint32_t RIGHT_PTO_SERVO = 2;
100  const uint32_t SHOOTER_A = 7;
101  const uint32_t SHOOTER_B = 8;
102  const uint32_t FLASHLIGHT = 6;
103 }
104 
105 
106 }
107 
108 #endif