1 #ifndef ROBOT_CONFIG_H_
2 #define ROBOT_CONFIG_H_
13 const uint32_t LOOP_RATE = 50;
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;
22 const uint32_t THROTTLE_COEFFICIENT = 1;
23 const uint32_t THROTTLE_EXPONENT = 1;
24 const uint32_t BLEND_COEFFICIENT = 1;
25 const uint32_t BLEND_EXPONENT = 1;
26 const double DEADBAND = 0.03;
31 const uint32_t AUTO_AIM_TIMEOUT = 500;
36 const uint32_t PRESSURE_A = 7;
37 const uint32_t PRESSURE_B = 6;
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;
54 const uint32_t FLASHLIGHT = 13;
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;
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;
72 const uint32_t STORAGE_EXIT_A = 1;
73 const uint32_t STORAGE_EXIT_B = 2;
74 const uint32_t SHOOTER_ANGLER_A = 7;
75 const uint32_t SHOOTER_ANGLER_B = 8;
80 const uint32_t COMPRESSOR_RELAY = 1;
81 const uint32_t FLASHLIGHT = 2;
86 const uint32_t LEFT_DRIVE_A = 1;
87 const uint32_t LEFT_DRIVE_B = 14;
88 const uint32_t RIGHT_DRIVE_A = 2;
89 const uint32_t RIGHT_DRIVE_B = 3;
90 const uint32_t COLLECTOR = 10;
91 const uint32_t SHOOTER_A = 7;
92 const uint32_t SHOOTER_B = 5;
93 const uint32_t WINCH_WORM = 6;
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;