2023-Robot
Robot code for 2023 FRC season by Argos, FRC team #1756
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Namespaces | Variables
auto.h File Reference
#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/length.h>
#include <units/time.h>
#include <units/velocity.h>
#include "constants/field_points.h"
#include "constants/measure_up.h"

Go to the source code of this file.

Namespaces

namespace  thresholds
 
namespace  timeouts
 
namespace  timeouts::slam_grab
 
namespace  timeouts::slam_grab::calbeProtector
 
namespace  place_positions
 
namespace  place_positions::blue_alliance
 
namespace  place_positions::red_alliance
 
namespace  starting_positions
 
namespace  starting_positions::blue_alliance
 
namespace  starting_positions::red_alliance
 
namespace  interim_waypoints
 
namespace  interim_waypoints::blue_alliance
 
namespace  interim_waypoints::blue_alliance::fudges
 
namespace  interim_waypoints::blue_alliance::slam_grab
 
namespace  interim_waypoints::blue_alliance::slam_grab::cableProtector
 
namespace  interim_waypoints::red_alliance
 
namespace  interim_waypoints::red_alliance::slam_grab
 
namespace  interim_waypoints::red_alliance::slam_grab::cableProtector
 
namespace  game_piece_pickup
 
namespace  game_piece_pickup::blue_alliance
 
namespace  game_piece_pickup::red_alliance
 
namespace  path_constraints
 
namespace  path_constraints::translation
 
namespace  path_constraints::rotation
 

Variables

constexpr units::degree_t thresholds::robotClimbPitch = 12_deg
 Target pitch to reach when climbing up the charge station.
 
constexpr units::degree_t thresholds::robotHitChargingStationPitch = 3_deg
 
constexpr units::degree_t thresholds::robotLeftChargingStationPitch = -2_deg
 
constexpr units::degrees_per_second_t thresholds::robotTippingPitchRate = -15_deg_per_s
 
constexpr units::second_t timeouts::robotClimbStation = 5_s
 The amount of time to wait before robot should abort trying to achieve target pitch on charge station.
 
constexpr units::millisecond_t timeouts::robotSlamCone = units::millisecond_t{1500}
 The max ammount of time the robot is allowed to talk while slamming a cone using the oui oui placer.
 
constexpr auto timeouts::slam_grab::afterDriveOver = units::millisecond_t{300}
 
constexpr auto timeouts::slam_grab::calbeProtector::toGamePiece = units::millisecond_t{1500}
 Time to travel from charge station to game piece on left slam grab.
 
constexpr auto timeouts::slam_grab::calbeProtector::backToCharge = units::millisecond_t{1200}
 
constexpr auto place_positions::blue_alliance::loadingStationCube3d
 
constexpr auto place_positions::blue_alliance::loadingStationCube
 
constexpr auto place_positions::blue_alliance::cableProtectorCube3d
 
constexpr auto place_positions::blue_alliance::cableProtectorCube
 
constexpr auto place_positions::blue_alliance::cableProtectorShoot3d
 
constexpr auto place_positions::blue_alliance::cableProtectorShoot
 
static const auto place_positions::red_alliance::loadingStationCube = utils::ReflectFieldPoint(place_positions::blue_alliance::loadingStationCube)
 
static const auto place_positions::red_alliance::cableProtectorCube = utils::ReflectFieldPoint(place_positions::blue_alliance::cableProtectorCube)
 
static const auto place_positions::red_alliance::cableProtectorShoot
 
constexpr auto starting_positions::blue_alliance::cableProtectorSlamGrab3d
 
constexpr auto starting_positions::blue_alliance::loadingStationCone3d
 
constexpr auto starting_positions::blue_alliance::loadingStationCone
 
constexpr auto starting_positions::blue_alliance::cableProtectorSlamGrab
 
constexpr auto starting_positions::blue_alliance::cableProtectorCone3d
 
constexpr auto starting_positions::blue_alliance::cableProtectorCone
 
constexpr auto starting_positions::blue_alliance::loadingStationConeReverse3d
 
constexpr auto starting_positions::blue_alliance::loadingStationConeReverse
 
constexpr auto starting_positions::blue_alliance::cableProtectorConeReverse3d
 
constexpr auto starting_positions::blue_alliance::cableProtectorConeReverse
 
static const auto starting_positions::red_alliance::cableProtectorSlamGrab
 
static const auto starting_positions::red_alliance::loadingStationCone
 
static const auto starting_positions::red_alliance::cableProtectorCone
 
static const auto starting_positions::red_alliance::loadingStationConeReverse
 
static const auto starting_positions::red_alliance::cableProtectorConeReverse
 
constexpr auto interim_waypoints::blue_alliance::fudges::stationStageFudge = 10_in
 
constexpr auto interim_waypoints::blue_alliance::backAwayFromLoadingStationCone
 
constexpr auto interim_waypoints::blue_alliance::backAwayFromCableProtectorCone
 
constexpr auto interim_waypoints::blue_alliance::backAwayFromLoadingStationConeReverse
 
constexpr auto interim_waypoints::blue_alliance::backAwayFromLoadingStationCube
 
constexpr auto interim_waypoints::blue_alliance::backAwayFromCableProtectorConeReverse
 
constexpr auto interim_waypoints::blue_alliance::approachSecondCube
 
constexpr auto interim_waypoints::blue_alliance::chargingStationStage
 
constexpr auto interim_waypoints::blue_alliance::slam_grab::cableProtector::angleToPickup = -35_deg
 Angle from after charge station to picking up game piece.
 
constexpr auto interim_waypoints::blue_alliance::slam_grab::cableProtector::afterDriveOverCharge
 Expected position after driving over charge station. Assume robot yaw is 0° and oui oui is on robot left.
 
static const auto interim_waypoints::red_alliance::backAwayFromLoadingStationCone
 
static const auto interim_waypoints::red_alliance::backAwayFromCableProtectorCone
 
static const auto interim_waypoints::red_alliance::backAwayFromLoadingStationCube
 
static const auto interim_waypoints::red_alliance::backAwayFromLoadingStationConeReverse
 
static const auto interim_waypoints::red_alliance::approachSecondCube
 
static const auto interim_waypoints::red_alliance::chargingStationStage
 
static const auto interim_waypoints::red_alliance::backAwayFromCableProtectorConeReverse
 
static const auto interim_waypoints::red_alliance::slam_grab::cableProtector::angleToPickup
 Angle from after charge station to picking up game piece.
 
static const auto interim_waypoints::red_alliance::slam_grab::cableProtector::afterDriveOverCharge
 Expected position after driving over charge station. Assume robot yaw is 0° and oui oui is on robot left.
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece0_3d
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece3_3d
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece0
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece1_3gp_3d
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece1_3gp
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece3
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece2_3d
 
constexpr auto game_piece_pickup::blue_alliance::gamePiece2
 
static const auto game_piece_pickup::red_alliance::gamePiece0 = utils::ReflectFieldPoint(game_piece_pickup::blue_alliance::gamePiece0)
 
static const auto game_piece_pickup::red_alliance::gamePiece1_3gp = utils::ReflectFieldPoint(game_piece_pickup::blue_alliance::gamePiece1_3gp)
 
static const auto game_piece_pickup::red_alliance::gamePiece2 = utils::ReflectFieldPoint(game_piece_pickup::blue_alliance::gamePiece2)
 
static const auto game_piece_pickup::red_alliance::gamePiece3 = utils::ReflectFieldPoint(game_piece_pickup::blue_alliance::gamePiece3)
 
static const auto path_constraints::translation::loadingStationBackOut = frc::TrapezoidProfile<units::inches>::Constraints{4_fps, 8_fps_sq}
 
static const auto path_constraints::translation::loadingStationReverseBackOut = frc::TrapezoidProfile<units::inches>::Constraints{8_fps, 8_fps_sq}
 
static const auto path_constraints::translation::stageChargeStationPullIn = frc::TrapezoidProfile<units::inches>::Constraints{4_fps, 8_fps_sq}
 
static const auto path_constraints::translation::loadingStationGridToGp0 = frc::TrapezoidProfile<units::inches>::Constraints{3_fps, 8_fps_sq}
 
static const auto path_constraints::translation::gp0ToScore = frc::TrapezoidProfile<units::inches>::Constraints{6_fps, 10_fps_sq}
 
static const auto path_constraints::translation::loadingStationPullIn = frc::TrapezoidProfile<units::inches>::Constraints{6.5_fps, 10_fps_sq}
 
static const auto path_constraints::translation::cableProtectorBackOut = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 7_fps_sq}
 
static const auto path_constraints::translation::cableProtectorBackOut2Gp = frc::TrapezoidProfile<units::inches>::Constraints{4.5_fps, 5_fps_sq}
 
static const auto path_constraints::translation::cableProtectorSplineOut = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 6.5_fps_sq}
 
static const auto path_constraints::translation::cableProtectorGridToGp3 = frc::TrapezoidProfile<units::inches>::Constraints{5_fps, 6_fps_sq}
 
static const auto path_constraints::translation::gp3ToScore = frc::TrapezoidProfile<units::inches>::Constraints{4.5_fps, 5_fps_sq}
 
static const auto path_constraints::translation::gp2ToScore = frc::TrapezoidProfile<units::inches>::Constraints{6_fps, 5_fps_sq}
 
static const auto path_constraints::translation::cableProtectorPullIn = frc::TrapezoidProfile<units::inches>::Constraints{5_fps, 5_fps_sq}
 
static const auto path_constraints::translation::loadingStationBackOut_3gp = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 8_fps_sq}
 
static const auto path_constraints::translation::stageChargeStationPullIn_3gp = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 8_fps_sq}
 
static const auto path_constraints::translation::loadingStationGridToGp0_3gp = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 8_fps_sq}
 
static const auto path_constraints::translation::gp0ToScore_3gp = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 8_fps_sq}
 
static const auto path_constraints::translation::loadingStationPullIn_3gp = frc::TrapezoidProfile<units::inches>::Constraints{7_fps, 8_fps_sq}
 
static const auto path_constraints::rotation::loadingStationBackOut
 
static const auto path_constraints::rotation::loadingStationReverseBackOut
 
static const auto path_constraints::rotation::stageChargeStationPullIn
 
static const auto path_constraints::rotation::loadingStationGridToGp0
 
static const auto path_constraints::rotation::gp0ToScore = frc::TrapezoidProfile<units::degrees>::Constraints{360_deg_per_s, 360_deg_per_s_sq}
 
static const auto path_constraints::rotation::loadingStationPullIn
 
static const auto path_constraints::rotation::cableProtectorBackOut
 
static const auto path_constraints::rotation::cableProtectorSplineOut
 
static const auto path_constraints::rotation::cableProtectorGridToGp3
 
static const auto path_constraints::rotation::cableProtectorPullIn
 
static const auto path_constraints::rotation::gp3ToScore = frc::TrapezoidProfile<units::degrees>::Constraints{300_deg_per_s, 300_deg_per_s_sq}
 
static const auto path_constraints::rotation::gp2ToScore = frc::TrapezoidProfile<units::degrees>::Constraints{300_deg_per_s, 300_deg_per_s_sq}
 
static const auto path_constraints::rotation::loadingStationBackOut_3gp
 
static const auto path_constraints::rotation::stageChargeStationPullIn_3gp
 
static const auto path_constraints::rotation::loadingStationGridToGp0_3gp
 
static const auto path_constraints::rotation::gp0ToScore_3gp
 
static const auto path_constraints::rotation::loadingStationPullIn_3gp