|
| constexpr auto | IMU_I2C_SDA = PB_7 |
| |
| constexpr auto | IMU_I2C_SCL = PB_8 |
| |
| constexpr auto | IMU_RESET = PA_8 |
| |
| constexpr int | pitch_zero_offset_ticks = 1500 |
| |
| constexpr float | PITCH_LOWER_BOUND {-22.0} |
| |
| constexpr float | PITCH_UPPER_BOUND {20.0} |
| |
| constexpr float | JOYSTICK_YAW_SENSITIVITY_DPS = 600 |
| |
| constexpr float | JOYSTICK_PITCH_SENSITIVITY_DPS = 300 |
| |
| constexpr float | MOUSE_SENSITIVITY_YAW_DPS = 10.0 |
| |
| constexpr float | MOUSE_SENSITIVITY_PITCH_DPS = 10.0 |
| |
| constexpr PID::config | YAW_VEL_PID = {181, 3.655 * 10e-3, 4.51 * 2.25, 32000, 1000} |
| |
| constexpr PID::config | YAW_POS_PID = {1, 0, 0, 90, 2} |
| |
| const float | yaw_static_friction = -150 |
| |
| const float | yaw_kinetic_friction = 0 |
| |
| constexpr PID::config | PITCH_VEL_PID = {173.8994, 4.898 * 10e-9, 12.474 * 10, 16000, 1000} |
| |
| constexpr PID::config | PITCH_POS_PID = {1, 0, 0,30,2} |
| |
| const float | pitch_gravity_feedforward = -500 |
| |
| const float | pitch_static_friction = 635.0 / 5 |
| |
| const float | pitch_kinetic_friction = 0 |
| |
| constexpr PID::config | FL_VEL_CONFIG = {3, 0, 0} |
| |
| constexpr PID::config | FR_VEL_CONFIG = {3, 0, 0} |
| |
| constexpr PID::config | BL_VEL_CONFIG = {3, 0, 0} |
| |
| constexpr PID::config | BR_VEL_CONFIG = {3, 0, 0} |
| |
| constexpr PID::config | FLYWHEEL_L_PID = {7.1849, 0.000042634, 0} |
| |
| constexpr PID::config | FLYWHEEL_R_PID = {7.1849, 0.000042634, 0} |
| |
| constexpr PID::config | INDEXER_PID_VEL = {2.7, 0.001, 0} |
| |
| constexpr PID::config | INDEXER_PID_POS = {0.1, 0, 0.001} |
| |
| TurretSubsystem::config | turret_config |
| |
| ShooterSubsystem::config | shooter_config |
| |
| ChassisSpeeds | des_chassis_state |
| |
| TurretSubsystem::TurretInfo | des_turret_state |
| |
| ShootState | des_shoot_state |
| |
| int | remoteTimer = 0 |
| |
| float | pitch_desired_angle = 0.0 |
| |
| float | yaw_desired_angle = 0.0 |
| |
| IMU::EulerAngles | imuAngles |
| |
