constraints.h

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#pragma once
 
#include <frc/trajectory/TrapezoidProfile.h>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/angular_acceleration.h>
#include <units/angular_velocity.h>
#include <units/velocity.h>
 
#include "utils/sensor_conversions.h"
 
namespace constraints {
  namespace first_ball_path {
    static const frc::TrapezoidProfile<units::inches>::Constraints linearConstraints{
        8_fps, units::feet_per_second_squared_t{12}};
    static const frc::TrapezoidProfile<units::degrees>::Constraints rotationalConstraints{
        units::degrees_per_second_t{360}, units::degrees_per_second_squared_t{360}};
  }  // namespace first_ball_path
  namespace AB_path {
    static const frc::TrapezoidProfile<units::inches>::Constraints linearConstraints{
        6_fps, units::feet_per_second_squared_t{12}};
    static const frc::TrapezoidProfile<units::degrees>::Constraints rotationalConstraints{
        units::degrees_per_second_t{360}, units::degrees_per_second_squared_t{360}};
  }  // namespace AB_path
  namespace BD_path {
    static const frc::TrapezoidProfile<units::inches>::Constraints linearConstraints{
        10_fps, units::feet_per_second_squared_t{12}};
    static const frc::TrapezoidProfile<units::degrees>::Constraints rotationalConstraints{
        units::degrees_per_second_t{360}, units::degrees_per_second_squared_t{360}};
  }  // namespace BD_path
  namespace terminal_gap_path {
    static const frc::TrapezoidProfile<units::inches>::Constraints linearConstraints{
        10_fps, units::feet_per_second_squared_t{12}};
    static const frc::TrapezoidProfile<units::degrees>::Constraints rotationalConstraints{
        units::degrees_per_second_t{360}, units::degrees_per_second_squared_t{360}};
  }  // namespace terminal_gap_path
  namespace D_5_final {
    static const frc::TrapezoidProfile<units::inches>::Constraints linearConstraints{
        10_fps, units::feet_per_second_squared_t{12}};
    static const frc::TrapezoidProfile<units::degrees>::Constraints rotationalConstraints{
        units::degrees_per_second_t{360}, units::degrees_per_second_squared_t{360}};
  }  // namespace D_5_final
}  // namespace constraints