2023-Robot
Robot code for 2023 FRC season by Argos, FRC team #1756
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motors.h
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1
4
5#pragma once
6
7#include "addresses.h"
8#include "argos_lib/config/status_frame_config.h"
9#include "control_loops.h"
10#include "ctre/Phoenix.h"
11#include "units/current.h"
12#include "units/time.h"
13#include "units/voltage.h"
14
15namespace motorConfig {
19 namespace common {
20 constexpr static auto neutralDeadband = 0.001;
21 constexpr static auto voltCompSat = 11.0_V;
22 } // namespace common
23
27 namespace comp_bot {
28 namespace drive {
29 struct genericDrive {
30 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
31 constexpr static bool sensorPhase = false;
32 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
33 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
34 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
35 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
36 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
37 constexpr static auto pid0_kP = controlLoop::comp_bot::drive::drive::kP;
38 constexpr static auto pid0_kI = controlLoop::comp_bot::drive::drive::kI;
39 constexpr static auto pid0_kD = controlLoop::comp_bot::drive::drive::kD;
40 constexpr static auto pid0_kF = controlLoop::comp_bot::drive::drive::kF;
41 constexpr static auto pid0_iZone = controlLoop::comp_bot::drive::drive::iZone;
42 constexpr static auto pid0_allowableError = controlLoop::comp_bot::drive::drive::allowableError;
43 };
44 struct frontLeftTurn {
45 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
46 constexpr static bool sensorPhase = true;
47 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
48 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
49 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
50 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
51 constexpr static auto remoteFilter0_addr = address::comp_bot::encoders::frontLeftEncoder;
52 constexpr static auto remoteFilter0_type =
53 ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder;
54 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::RemoteSensor0;
55 constexpr static auto pid0_kP = controlLoop::comp_bot::drive::rotate::kP;
56 constexpr static auto pid0_kI = controlLoop::comp_bot::drive::rotate::kI;
57 constexpr static auto pid0_kD = controlLoop::comp_bot::drive::rotate::kD;
58 constexpr static auto pid0_kF = controlLoop::comp_bot::drive::rotate::kF;
59 constexpr static auto pid0_iZone = controlLoop::comp_bot::drive::rotate::iZone;
60 constexpr static auto pid0_allowableError = controlLoop::comp_bot::drive::rotate::allowableError;
61 };
62 struct frontRightTurn {
63 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
64 constexpr static bool sensorPhase = true;
65 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
66 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
67 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
68 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
69 constexpr static auto remoteFilter0_addr = address::comp_bot::encoders::frontRightEncoder;
70 constexpr static auto remoteFilter0_type =
71 ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder;
72 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::RemoteSensor0;
73 constexpr static auto pid0_kP = controlLoop::comp_bot::drive::rotate::kP;
74 constexpr static auto pid0_kI = controlLoop::comp_bot::drive::rotate::kI;
75 constexpr static auto pid0_kD = controlLoop::comp_bot::drive::rotate::kD;
76 constexpr static auto pid0_kF = controlLoop::comp_bot::drive::rotate::kF;
77 constexpr static auto pid0_iZone = controlLoop::comp_bot::drive::rotate::iZone;
78 constexpr static auto pid0_allowableError = controlLoop::comp_bot::drive::rotate::allowableError;
79 };
80 struct backRightTurn {
81 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
82 constexpr static bool sensorPhase = true;
83 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
84 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
85 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
86 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
87 constexpr static auto remoteFilter0_addr = address::comp_bot::encoders::backRightEncoder;
88 constexpr static auto remoteFilter0_type =
89 ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder;
90 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::RemoteSensor0;
91 constexpr static auto pid0_kP = controlLoop::comp_bot::drive::rotate::kP;
92 constexpr static auto pid0_kI = controlLoop::comp_bot::drive::rotate::kI;
93 constexpr static auto pid0_kD = controlLoop::comp_bot::drive::rotate::kD;
94 constexpr static auto pid0_kF = controlLoop::comp_bot::drive::rotate::kF;
95 constexpr static auto pid0_iZone = controlLoop::comp_bot::drive::rotate::iZone;
96 constexpr static auto pid0_allowableError = controlLoop::comp_bot::drive::rotate::allowableError;
97 };
98 struct backLeftTurn {
99 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
100 constexpr static bool sensorPhase = true;
101 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
102 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
103 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
104 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
105 constexpr static auto remoteFilter0_addr = address::comp_bot::encoders::backLeftEncoder;
106 constexpr static auto remoteFilter0_type =
107 ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder;
108 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::RemoteSensor0;
109 constexpr static auto pid0_kP = controlLoop::comp_bot::drive::rotate::kP;
110 constexpr static auto pid0_kI = controlLoop::comp_bot::drive::rotate::kI;
111 constexpr static auto pid0_kD = controlLoop::comp_bot::drive::rotate::kD;
112 constexpr static auto pid0_kF = controlLoop::comp_bot::drive::rotate::kF;
113 constexpr static auto pid0_iZone = controlLoop::comp_bot::drive::rotate::iZone;
114 constexpr static auto pid0_allowableError = controlLoop::comp_bot::drive::rotate::allowableError;
115 };
116
117 } // namespace drive
118 namespace lifter {
121 struct armExtension {
122 constexpr static auto inverted = ctre::phoenix::motorcontrol::TalonFXInvertType::Clockwise;
123 constexpr static bool sensorPhase = false;
124 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
125 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
126 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
127 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
128 constexpr static auto peakOutputForward = 1.0;
129 constexpr static auto peakOutputReverse = -1.0;
130 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
131 constexpr static auto pid0_kP = controlLoop::comp_bot::lifter::armExtension::kP;
132 constexpr static auto pid0_kI = controlLoop::comp_bot::lifter::armExtension::kI;
133 constexpr static auto pid0_kD = controlLoop::comp_bot::lifter::armExtension::kD;
134 constexpr static auto pid0_kF = controlLoop::comp_bot::lifter::armExtension::kF;
135 constexpr static auto pid0_iZone = controlLoop::comp_bot::lifter::armExtension::iZone;
136 constexpr static auto pid0_allowableError = controlLoop::comp_bot::lifter::armExtension::allowableError;
137 };
138 struct shoulderDrive {
139 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::None;
140 constexpr static bool sensorPhase = false;
141 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
142 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
143 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
144 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
145 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
146 constexpr static auto pid0_kP = controlLoop::comp_bot::lifter::shoulder::kP;
147 constexpr static auto pid0_kI = controlLoop::comp_bot::lifter::shoulder::kI;
148 constexpr static auto pid0_kD = controlLoop::comp_bot::lifter::shoulder::kD;
149 constexpr static auto pid0_kF = controlLoop::comp_bot::lifter::shoulder::kF;
150 constexpr static auto pid0_iZone = controlLoop::comp_bot::lifter::shoulder::iZone;
151 constexpr static auto pid0_allowableError = controlLoop::comp_bot::lifter::shoulder::allowableError;
152 constexpr static double peakOutputForward = 1;
153 constexpr static double peakOutputReverse = -1;
154 };
155 struct shoulderFollower {
156 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::FollowMaster;
157 constexpr static bool sensorPhase = false;
158 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
159 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
160 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
161 constexpr static auto statusFrameMotorMode =
162 argos_lib::status_frame_config::MotorPresetMode::FollowerFX; // As follower, send less CAN traffic
163 constexpr static auto remoteFilter0_addr = address::comp_bot::encoders::shoulderEncoder;
164 constexpr static auto remoteFilter0_type =
165 ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder;
166 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::RemoteSensor0;
167 constexpr static auto pid0_kP = controlLoop::comp_bot::lifter::shoulder::kP;
168 constexpr static auto pid0_kI = controlLoop::comp_bot::lifter::shoulder::kI;
169 constexpr static auto pid0_kD = controlLoop::comp_bot::lifter::shoulder::kD;
170 constexpr static auto pid0_kF = controlLoop::comp_bot::lifter::shoulder::kF;
171 constexpr static auto pid0_iZone = controlLoop::comp_bot::lifter::shoulder::iZone;
172 constexpr static auto pid0_allowableError = controlLoop::comp_bot::lifter::shoulder::allowableError;
173 };
174
175 // Currently just generic drive with remote sensor
176 struct wrist {
177 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
178 constexpr static bool sensorPhase = true;
179 constexpr static double peakOutputForward = 0.4;
180 constexpr static double peakOutputReverse = -0.4;
181 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
182 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
183 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
184 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
185 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
186 constexpr static auto pid0_kP = controlLoop::comp_bot::lifter::wrist::kP;
187 constexpr static auto pid0_kI = controlLoop::comp_bot::lifter::wrist::kI;
188 constexpr static auto pid0_kD = controlLoop::comp_bot::lifter::wrist::kD;
189 constexpr static auto pid0_kF = controlLoop::comp_bot::lifter::wrist::kF;
190 constexpr static auto pid0_iZone = controlLoop::comp_bot::lifter::wrist::iZone;
191 constexpr static auto pid0_allowableError = controlLoop::comp_bot::lifter::wrist::allowableError;
192 constexpr static auto statorCurrentLimit = 20_A;
193 };
194 } // namespace lifter
195 namespace intake {
196 struct intake {
197 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
198 constexpr static bool sensorPhase = false;
199 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
200 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
201 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
202 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::BasicFX;
203 constexpr static auto continuousCurrentLimit = 15_A;
204 constexpr static auto peakCurrentLimit = 25_A;
205 constexpr static auto peakCurrentDuration = 1_s;
206 };
207 } // namespace intake
208 namespace bash_guard {
209 struct extension {
210 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
211 constexpr static bool sensorPhase = false;
212 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
213 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
214 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
215 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
216 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
217 constexpr static auto pid0_kP = controlLoop::comp_bot::bash_guard::extension::kP;
218 constexpr static auto pid0_kI = controlLoop::comp_bot::bash_guard::extension::kI;
219 constexpr static auto pid0_kD = controlLoop::comp_bot::bash_guard::extension::kD;
220 constexpr static auto pid0_kF = controlLoop::comp_bot::bash_guard::extension::kF;
221 constexpr static auto pid0_iZone = controlLoop::comp_bot::bash_guard::extension::iZone;
222 constexpr static auto pid0_allowableError = controlLoop::comp_bot::bash_guard::extension::allowableError;
223 };
224 } // namespace bash_guard
225 struct oui_oui_placer {
226 constexpr static auto inverted = ctre::phoenix::motorcontrol::InvertType::InvertMotorOutput;
227 constexpr static bool sensorPhase = false;
228 constexpr static auto neutralDeadband = motorConfig::common::neutralDeadband;
229 constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake;
230 constexpr static auto voltCompSat = motorConfig::common::voltCompSat;
231 constexpr static auto statusFrameMotorMode = argos_lib::status_frame_config::MotorPresetMode::LeaderFX;
232 constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
233 constexpr static auto pid0_kP = controlLoop::comp_bot::oui_oui_placer::kP;
234 constexpr static auto pid0_kI = controlLoop::comp_bot::oui_oui_placer::kI;
235 constexpr static auto pid0_kD = controlLoop::comp_bot::oui_oui_placer::kD;
236 constexpr static auto pid0_kF = controlLoop::comp_bot::oui_oui_placer::kF;
237 constexpr static auto pid0_iZone = controlLoop::comp_bot::oui_oui_placer::iZone;
238 constexpr static auto pid0_allowableError = controlLoop::comp_bot::oui_oui_placer::allowableError;
239 }; // namespace oui_oui_placer
240 } // namespace comp_bot
241
245 namespace practice_bot {
246 namespace drive {
247 using genericDrive = motorConfig::comp_bot::drive::genericDrive;
248
249 struct frontLeftTurn {
250 constexpr static auto inverted = motorConfig::comp_bot::drive::frontLeftTurn::inverted;
251 constexpr static bool sensorPhase = motorConfig::comp_bot::drive::frontLeftTurn::sensorPhase;
252 constexpr static auto neutralDeadband = motorConfig::comp_bot::drive::frontLeftTurn::neutralDeadband;
253 constexpr static auto neutralMode = motorConfig::comp_bot::drive::frontLeftTurn::neutralMode;
254 constexpr static auto voltCompSat = motorConfig::comp_bot::drive::frontLeftTurn::voltCompSat;
255 constexpr static auto statusFrameMotorMode = motorConfig::comp_bot::drive::frontLeftTurn::statusFrameMotorMode;
256 constexpr static auto remoteFilter0_addr = address::practice_bot::encoders::frontLeftEncoder;
257 constexpr static auto remoteFilter0_type = motorConfig::comp_bot::drive::frontLeftTurn::remoteFilter0_type;
258 constexpr static auto pid0_selectedSensor = motorConfig::comp_bot::drive::frontLeftTurn::pid0_selectedSensor;
259 constexpr static auto pid0_kP = motorConfig::comp_bot::drive::frontLeftTurn::pid0_kP;
260 constexpr static auto pid0_kI = motorConfig::comp_bot::drive::frontLeftTurn::pid0_kI;
261 constexpr static auto pid0_kD = motorConfig::comp_bot::drive::frontLeftTurn::pid0_kD;
262 constexpr static auto pid0_kF = motorConfig::comp_bot::drive::frontLeftTurn::pid0_kF;
263 constexpr static auto pid0_iZone = motorConfig::comp_bot::drive::frontLeftTurn::pid0_iZone;
264 constexpr static auto pid0_allowableError = motorConfig::comp_bot::drive::frontLeftTurn::pid0_allowableError;
265 };
266 struct frontRightTurn {
267 constexpr static auto inverted = motorConfig::comp_bot::drive::frontRightTurn::inverted;
268 constexpr static bool sensorPhase = motorConfig::comp_bot::drive::frontRightTurn::sensorPhase;
269 constexpr static auto neutralDeadband = motorConfig::comp_bot::drive::frontRightTurn::neutralDeadband;
270 constexpr static auto neutralMode = motorConfig::comp_bot::drive::frontRightTurn::neutralMode;
271 constexpr static auto voltCompSat = motorConfig::comp_bot::drive::frontRightTurn::voltCompSat;
272 constexpr static auto statusFrameMotorMode = motorConfig::comp_bot::drive::frontRightTurn::statusFrameMotorMode;
273 constexpr static auto remoteFilter0_addr = address::practice_bot::encoders::frontRightEncoder;
274 constexpr static auto remoteFilter0_type = motorConfig::comp_bot::drive::frontRightTurn::remoteFilter0_type;
275 constexpr static auto pid0_selectedSensor = motorConfig::comp_bot::drive::frontRightTurn::pid0_selectedSensor;
276 constexpr static auto pid0_kP = motorConfig::comp_bot::drive::frontRightTurn::pid0_kP;
277 constexpr static auto pid0_kI = motorConfig::comp_bot::drive::frontRightTurn::pid0_kI;
278 constexpr static auto pid0_kD = motorConfig::comp_bot::drive::frontRightTurn::pid0_kD;
279 constexpr static auto pid0_kF = motorConfig::comp_bot::drive::frontRightTurn::pid0_kF;
280 constexpr static auto pid0_iZone = motorConfig::comp_bot::drive::frontRightTurn::pid0_iZone;
281 constexpr static auto pid0_allowableError = motorConfig::comp_bot::drive::frontRightTurn::pid0_allowableError;
282 };
283 struct backRightTurn {
284 constexpr static auto inverted = motorConfig::comp_bot::drive::backRightTurn::inverted;
285 constexpr static bool sensorPhase = motorConfig::comp_bot::drive::backRightTurn::sensorPhase;
286 constexpr static auto neutralDeadband = motorConfig::comp_bot::drive::backRightTurn::neutralDeadband;
287 constexpr static auto neutralMode = motorConfig::comp_bot::drive::backRightTurn::neutralMode;
288 constexpr static auto voltCompSat = motorConfig::comp_bot::drive::backRightTurn::voltCompSat;
289 constexpr static auto statusFrameMotorMode = motorConfig::comp_bot::drive::backRightTurn::statusFrameMotorMode;
290 constexpr static auto remoteFilter0_addr = address::practice_bot::encoders::backRightEncoder;
291 constexpr static auto remoteFilter0_type = motorConfig::comp_bot::drive::backRightTurn::remoteFilter0_type;
292 constexpr static auto pid0_selectedSensor = motorConfig::comp_bot::drive::backRightTurn::pid0_selectedSensor;
293 constexpr static auto pid0_kP = motorConfig::comp_bot::drive::backRightTurn::pid0_kP;
294 constexpr static auto pid0_kI = motorConfig::comp_bot::drive::backRightTurn::pid0_kI;
295 constexpr static auto pid0_kD = motorConfig::comp_bot::drive::backRightTurn::pid0_kD;
296 constexpr static auto pid0_kF = motorConfig::comp_bot::drive::backRightTurn::pid0_kF;
297 constexpr static auto pid0_iZone = motorConfig::comp_bot::drive::backRightTurn::pid0_iZone;
298 constexpr static auto pid0_allowableError = motorConfig::comp_bot::drive::backRightTurn::pid0_allowableError;
299 };
300 struct backLeftTurn {
301 constexpr static auto inverted = motorConfig::comp_bot::drive::backLeftTurn::inverted;
302 constexpr static bool sensorPhase = motorConfig::comp_bot::drive::backLeftTurn::sensorPhase;
303 constexpr static auto neutralDeadband = motorConfig::comp_bot::drive::backLeftTurn::neutralDeadband;
304 constexpr static auto neutralMode = motorConfig::comp_bot::drive::backLeftTurn::neutralMode;
305 constexpr static auto voltCompSat = motorConfig::comp_bot::drive::backLeftTurn::voltCompSat;
306 constexpr static auto statusFrameMotorMode = motorConfig::comp_bot::drive::backLeftTurn::statusFrameMotorMode;
307 constexpr static auto remoteFilter0_addr = address::practice_bot::encoders::backLeftEncoder;
308 constexpr static auto remoteFilter0_type = motorConfig::comp_bot::drive::backLeftTurn::remoteFilter0_type;
309 constexpr static auto pid0_selectedSensor = motorConfig::comp_bot::drive::backLeftTurn::pid0_selectedSensor;
310 constexpr static auto pid0_kP = motorConfig::comp_bot::drive::backLeftTurn::pid0_kP;
311 constexpr static auto pid0_kI = motorConfig::comp_bot::drive::backLeftTurn::pid0_kI;
312 constexpr static auto pid0_kD = motorConfig::comp_bot::drive::backLeftTurn::pid0_kD;
313 constexpr static auto pid0_kF = motorConfig::comp_bot::drive::backLeftTurn::pid0_kF;
314 constexpr static auto pid0_iZone = motorConfig::comp_bot::drive::backLeftTurn::pid0_iZone;
315 constexpr static auto pid0_allowableError = motorConfig::comp_bot::drive::backLeftTurn::pid0_allowableError;
316 };
317 } // namespace drive
323 namespace intake {
324 using intake = motorConfig::comp_bot::intake::intake;
325 } // namespace intake
326 namespace bash_guard {
327 using extension = motorConfig::comp_bot::bash_guard::extension;
328 } // namespace bash_guard
329
330 using oui_oui_placer = comp_bot::oui_oui_placer;
331 } // namespace practice_bot
332} // namespace motorConfig
control_loops.h
argos_lib::status_frame_config::MotorPresetMode::LeaderFX
@ LeaderFX
FX leader, fast reporting rate.
argos_lib::status_frame_config::MotorPresetMode::BasicFX
@ BasicFX
Baseline FX, slow sensor reporting rate.
argos_lib::status_frame_config::MotorPresetMode::FollowerFX
@ FollowerFX
FX follower, near zero reporting rates.
controlLoop::comp_bot::oui_oui_placer::kD
static constexpr double kD
Definition control_loops.h:81
controlLoop::comp_bot::oui_oui_placer::kP
static constexpr double kP
Definition control_loops.h:79
controlLoop::comp_bot::oui_oui_placer::kF
static constexpr double kF
Definition control_loops.h:82
controlLoop::comp_bot::oui_oui_placer::iZone
static constexpr double iZone
Definition control_loops.h:83
controlLoop::comp_bot::oui_oui_placer::allowableError
static constexpr double allowableError
Definition control_loops.h:84
controlLoop::comp_bot::oui_oui_placer::kI
static constexpr double kI
Definition control_loops.h:80
motorConfig::common::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:20
motorConfig::common::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:21
motorConfig
Definition motors.h:15
status_frame_config.h
address::comp_bot::encoders::frontRightEncoder
static constexpr argos_lib::CANAddress frontRightEncoder
Definition addresses.h:40
address::comp_bot::encoders::backRightEncoder
static constexpr argos_lib::CANAddress backRightEncoder
Definition addresses.h:41
address::comp_bot::encoders::frontLeftEncoder
static constexpr argos_lib::CANAddress frontLeftEncoder
Definition addresses.h:39
address::comp_bot::encoders::backLeftEncoder
static constexpr argos_lib::CANAddress backLeftEncoder
Definition addresses.h:42
address::comp_bot::encoders::shoulderEncoder
static constexpr argos_lib::CANAddress shoulderEncoder
Definition addresses.h:45
controlLoop::comp_bot::bash_guard::extension::kI
static constexpr double kI
Definition control_loops.h:71
controlLoop::comp_bot::bash_guard::extension::kD
static constexpr double kD
Definition control_loops.h:72
controlLoop::comp_bot::bash_guard::extension::allowableError
static constexpr double allowableError
Definition control_loops.h:75
controlLoop::comp_bot::bash_guard::extension::kP
static constexpr double kP
Definition control_loops.h:70
controlLoop::comp_bot::bash_guard::extension::iZone
static constexpr double iZone
Definition control_loops.h:74
controlLoop::comp_bot::bash_guard::extension::kF
static constexpr double kF
Definition control_loops.h:73
controlLoop::comp_bot::drive::drive::kF
static constexpr double kF
Definition control_loops.h:25
controlLoop::comp_bot::drive::drive::iZone
static constexpr double iZone
Definition control_loops.h:26
controlLoop::comp_bot::drive::drive::kD
static constexpr double kD
Definition control_loops.h:24
controlLoop::comp_bot::drive::drive::kP
static constexpr double kP
Definition control_loops.h:22
controlLoop::comp_bot::drive::drive::allowableError
static constexpr double allowableError
Definition control_loops.h:27
controlLoop::comp_bot::drive::drive::kI
static constexpr double kI
Definition control_loops.h:23
controlLoop::comp_bot::drive::rotate::iZone
static constexpr double iZone
Definition control_loops.h:18
controlLoop::comp_bot::drive::rotate::kP
static constexpr double kP
Definition control_loops.h:14
controlLoop::comp_bot::drive::rotate::allowableError
static constexpr double allowableError
Definition control_loops.h:19
controlLoop::comp_bot::drive::rotate::kF
static constexpr double kF
Definition control_loops.h:17
controlLoop::comp_bot::drive::rotate::kI
static constexpr double kI
Definition control_loops.h:15
controlLoop::comp_bot::drive::rotate::kD
static constexpr double kD
Definition control_loops.h:16
controlLoop::comp_bot::lifter::armExtension::kP
static constexpr double kP
Definition control_loops.h:44
controlLoop::comp_bot::lifter::armExtension::kD
static constexpr double kD
Definition control_loops.h:46
controlLoop::comp_bot::lifter::armExtension::iZone
static constexpr double iZone
Definition control_loops.h:48
controlLoop::comp_bot::lifter::armExtension::allowableError
static constexpr double allowableError
Definition control_loops.h:49
controlLoop::comp_bot::lifter::armExtension::kI
static constexpr double kI
Definition control_loops.h:45
controlLoop::comp_bot::lifter::armExtension::kF
static constexpr double kF
Definition control_loops.h:47
controlLoop::comp_bot::lifter::shoulder::kI
static constexpr double kI
Definition control_loops.h:53
controlLoop::comp_bot::lifter::shoulder::kF
static constexpr double kF
Definition control_loops.h:55
controlLoop::comp_bot::lifter::shoulder::kD
static constexpr double kD
Definition control_loops.h:54
controlLoop::comp_bot::lifter::shoulder::allowableError
static constexpr double allowableError
Definition control_loops.h:57
controlLoop::comp_bot::lifter::shoulder::kP
static constexpr double kP
Definition control_loops.h:52
controlLoop::comp_bot::lifter::shoulder::iZone
static constexpr double iZone
Definition control_loops.h:56
controlLoop::comp_bot::lifter::wrist::kF
static constexpr double kF
Definition control_loops.h:63
controlLoop::comp_bot::lifter::wrist::allowableError
static constexpr double allowableError
Definition control_loops.h:65
controlLoop::comp_bot::lifter::wrist::iZone
static constexpr double iZone
Definition control_loops.h:64
controlLoop::comp_bot::lifter::wrist::kP
static constexpr double kP
Definition control_loops.h:60
controlLoop::comp_bot::lifter::wrist::kI
static constexpr double kI
Definition control_loops.h:61
controlLoop::comp_bot::lifter::wrist::kD
static constexpr double kD
Definition control_loops.h:62
motorConfig::comp_bot::bash_guard::extension
Definition motors.h:209
motorConfig::comp_bot::bash_guard::extension::inverted
static constexpr auto inverted
Definition motors.h:210
motorConfig::comp_bot::bash_guard::extension::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:211
motorConfig::comp_bot::bash_guard::extension::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:219
motorConfig::comp_bot::bash_guard::extension::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:215
motorConfig::comp_bot::bash_guard::extension::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:214
motorConfig::comp_bot::bash_guard::extension::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:212
motorConfig::comp_bot::bash_guard::extension::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:217
motorConfig::comp_bot::bash_guard::extension::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:221
motorConfig::comp_bot::bash_guard::extension::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:220
motorConfig::comp_bot::bash_guard::extension::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:216
motorConfig::comp_bot::bash_guard::extension::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:218
motorConfig::comp_bot::bash_guard::extension::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:222
motorConfig::comp_bot::bash_guard::extension::neutralMode
static constexpr auto neutralMode
Definition motors.h:213
motorConfig::comp_bot::drive::backLeftTurn
Definition motors.h:98
motorConfig::comp_bot::drive::backLeftTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:100
motorConfig::comp_bot::drive::backLeftTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:106
motorConfig::comp_bot::drive::backLeftTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:113
motorConfig::comp_bot::drive::backLeftTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:104
motorConfig::comp_bot::drive::backLeftTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:112
motorConfig::comp_bot::drive::backLeftTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:102
motorConfig::comp_bot::drive::backLeftTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:108
motorConfig::comp_bot::drive::backLeftTurn::inverted
static constexpr auto inverted
Definition motors.h:99
motorConfig::comp_bot::drive::backLeftTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:110
motorConfig::comp_bot::drive::backLeftTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:103
motorConfig::comp_bot::drive::backLeftTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:109
motorConfig::comp_bot::drive::backLeftTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:101
motorConfig::comp_bot::drive::backLeftTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:114
motorConfig::comp_bot::drive::backLeftTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:111
motorConfig::comp_bot::drive::backLeftTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:105
motorConfig::comp_bot::drive::backRightTurn
Definition motors.h:80
motorConfig::comp_bot::drive::backRightTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:87
motorConfig::comp_bot::drive::backRightTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:83
motorConfig::comp_bot::drive::backRightTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:92
motorConfig::comp_bot::drive::backRightTurn::inverted
static constexpr auto inverted
Definition motors.h:81
motorConfig::comp_bot::drive::backRightTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:85
motorConfig::comp_bot::drive::backRightTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:86
motorConfig::comp_bot::drive::backRightTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:95
motorConfig::comp_bot::drive::backRightTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:91
motorConfig::comp_bot::drive::backRightTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:94
motorConfig::comp_bot::drive::backRightTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:90
motorConfig::comp_bot::drive::backRightTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:82
motorConfig::comp_bot::drive::backRightTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:96
motorConfig::comp_bot::drive::backRightTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:88
motorConfig::comp_bot::drive::backRightTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:93
motorConfig::comp_bot::drive::backRightTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:84
motorConfig::comp_bot::drive::frontLeftTurn
Definition motors.h:44
motorConfig::comp_bot::drive::frontLeftTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:47
motorConfig::comp_bot::drive::frontLeftTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:59
motorConfig::comp_bot::drive::frontLeftTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:49
motorConfig::comp_bot::drive::frontLeftTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:51
motorConfig::comp_bot::drive::frontLeftTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:48
motorConfig::comp_bot::drive::frontLeftTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:60
motorConfig::comp_bot::drive::frontLeftTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:54
motorConfig::comp_bot::drive::frontLeftTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:52
motorConfig::comp_bot::drive::frontLeftTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:55
motorConfig::comp_bot::drive::frontLeftTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:50
motorConfig::comp_bot::drive::frontLeftTurn::inverted
static constexpr auto inverted
Definition motors.h:45
motorConfig::comp_bot::drive::frontLeftTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:57
motorConfig::comp_bot::drive::frontLeftTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:58
motorConfig::comp_bot::drive::frontLeftTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:46
motorConfig::comp_bot::drive::frontLeftTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:56
motorConfig::comp_bot::drive::frontRightTurn
Definition motors.h:62
motorConfig::comp_bot::drive::frontRightTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:78
motorConfig::comp_bot::drive::frontRightTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:76
motorConfig::comp_bot::drive::frontRightTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:75
motorConfig::comp_bot::drive::frontRightTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:68
motorConfig::comp_bot::drive::frontRightTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:65
motorConfig::comp_bot::drive::frontRightTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:72
motorConfig::comp_bot::drive::frontRightTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:70
motorConfig::comp_bot::drive::frontRightTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:64
motorConfig::comp_bot::drive::frontRightTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:67
motorConfig::comp_bot::drive::frontRightTurn::inverted
static constexpr auto inverted
Definition motors.h:63
motorConfig::comp_bot::drive::frontRightTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:66
motorConfig::comp_bot::drive::frontRightTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:77
motorConfig::comp_bot::drive::frontRightTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:69
motorConfig::comp_bot::drive::frontRightTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:73
motorConfig::comp_bot::drive::frontRightTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:74
motorConfig::comp_bot::drive::genericDrive
Definition motors.h:29
motorConfig::comp_bot::drive::genericDrive::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:32
motorConfig::comp_bot::drive::genericDrive::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:34
motorConfig::comp_bot::drive::genericDrive::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:39
motorConfig::comp_bot::drive::genericDrive::neutralMode
static constexpr auto neutralMode
Definition motors.h:33
motorConfig::comp_bot::drive::genericDrive::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:42
motorConfig::comp_bot::drive::genericDrive::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:40
motorConfig::comp_bot::drive::genericDrive::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:38
motorConfig::comp_bot::drive::genericDrive::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:41
motorConfig::comp_bot::drive::genericDrive::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:36
motorConfig::comp_bot::drive::genericDrive::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:37
motorConfig::comp_bot::drive::genericDrive::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:31
motorConfig::comp_bot::drive::genericDrive::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:35
motorConfig::comp_bot::drive::genericDrive::inverted
static constexpr auto inverted
Definition motors.h:30
motorConfig::comp_bot::intake::intake
Definition motors.h:196
motorConfig::comp_bot::intake::intake::inverted
static constexpr auto inverted
Definition motors.h:197
motorConfig::comp_bot::intake::intake::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:198
motorConfig::comp_bot::intake::intake::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:202
motorConfig::comp_bot::intake::intake::peakCurrentLimit
static constexpr auto peakCurrentLimit
Definition motors.h:204
motorConfig::comp_bot::intake::intake::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:199
motorConfig::comp_bot::intake::intake::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:201
motorConfig::comp_bot::intake::intake::continuousCurrentLimit
static constexpr auto continuousCurrentLimit
Definition motors.h:203
motorConfig::comp_bot::intake::intake::peakCurrentDuration
static constexpr auto peakCurrentDuration
Definition motors.h:205
motorConfig::comp_bot::intake::intake::neutralMode
static constexpr auto neutralMode
Definition motors.h:200
motorConfig::comp_bot::lifter::armExtension
Definition motors.h:121
motorConfig::comp_bot::lifter::armExtension::peakOutputReverse
static constexpr auto peakOutputReverse
Definition motors.h:129
motorConfig::comp_bot::lifter::armExtension::peakOutputForward
static constexpr auto peakOutputForward
Definition motors.h:128
motorConfig::comp_bot::lifter::armExtension::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:133
motorConfig::comp_bot::lifter::armExtension::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:131
motorConfig::comp_bot::lifter::armExtension::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:126
motorConfig::comp_bot::lifter::armExtension::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:127
motorConfig::comp_bot::lifter::armExtension::neutralMode
static constexpr auto neutralMode
Definition motors.h:125
motorConfig::comp_bot::lifter::armExtension::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:135
motorConfig::comp_bot::lifter::armExtension::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:123
motorConfig::comp_bot::lifter::armExtension::inverted
static constexpr auto inverted
Definition motors.h:122
motorConfig::comp_bot::lifter::armExtension::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:132
motorConfig::comp_bot::lifter::armExtension::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:124
motorConfig::comp_bot::lifter::armExtension::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:130
motorConfig::comp_bot::lifter::armExtension::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:134
motorConfig::comp_bot::lifter::armExtension::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:136
motorConfig::comp_bot::lifter::shoulderDrive
Definition motors.h:138
motorConfig::comp_bot::lifter::shoulderDrive::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:141
motorConfig::comp_bot::lifter::shoulderDrive::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:146
motorConfig::comp_bot::lifter::shoulderDrive::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:150
motorConfig::comp_bot::lifter::shoulderDrive::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:145
motorConfig::comp_bot::lifter::shoulderDrive::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:140
motorConfig::comp_bot::lifter::shoulderDrive::peakOutputReverse
static constexpr double peakOutputReverse
Definition motors.h:153
motorConfig::comp_bot::lifter::shoulderDrive::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:147
motorConfig::comp_bot::lifter::shoulderDrive::neutralMode
static constexpr auto neutralMode
Definition motors.h:142
motorConfig::comp_bot::lifter::shoulderDrive::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:149
motorConfig::comp_bot::lifter::shoulderDrive::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:148
motorConfig::comp_bot::lifter::shoulderDrive::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:151
motorConfig::comp_bot::lifter::shoulderDrive::inverted
static constexpr auto inverted
Definition motors.h:139
motorConfig::comp_bot::lifter::shoulderDrive::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:144
motorConfig::comp_bot::lifter::shoulderDrive::peakOutputForward
static constexpr double peakOutputForward
Definition motors.h:152
motorConfig::comp_bot::lifter::shoulderDrive::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:143
motorConfig::comp_bot::lifter::shoulderFollower
Definition motors.h:155
motorConfig::comp_bot::lifter::shoulderFollower::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:164
motorConfig::comp_bot::lifter::shoulderFollower::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:170
motorConfig::comp_bot::lifter::shoulderFollower::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:168
motorConfig::comp_bot::lifter::shoulderFollower::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:160
motorConfig::comp_bot::lifter::shoulderFollower::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:167
motorConfig::comp_bot::lifter::shoulderFollower::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:171
motorConfig::comp_bot::lifter::shoulderFollower::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:158
motorConfig::comp_bot::lifter::shoulderFollower::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:169
motorConfig::comp_bot::lifter::shoulderFollower::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:166
motorConfig::comp_bot::lifter::shoulderFollower::inverted
static constexpr auto inverted
Definition motors.h:156
motorConfig::comp_bot::lifter::shoulderFollower::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:161
motorConfig::comp_bot::lifter::shoulderFollower::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:172
motorConfig::comp_bot::lifter::shoulderFollower::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:157
motorConfig::comp_bot::lifter::shoulderFollower::neutralMode
static constexpr auto neutralMode
Definition motors.h:159
motorConfig::comp_bot::lifter::shoulderFollower::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:163
motorConfig::comp_bot::lifter::wrist
Definition motors.h:176
motorConfig::comp_bot::lifter::wrist::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:185
motorConfig::comp_bot::lifter::wrist::peakOutputReverse
static constexpr double peakOutputReverse
Definition motors.h:180
motorConfig::comp_bot::lifter::wrist::inverted
static constexpr auto inverted
Definition motors.h:177
motorConfig::comp_bot::lifter::wrist::neutralMode
static constexpr auto neutralMode
Definition motors.h:182
motorConfig::comp_bot::lifter::wrist::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:188
motorConfig::comp_bot::lifter::wrist::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:178
motorConfig::comp_bot::lifter::wrist::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:189
motorConfig::comp_bot::lifter::wrist::statorCurrentLimit
static constexpr auto statorCurrentLimit
Definition motors.h:192
motorConfig::comp_bot::lifter::wrist::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:187
motorConfig::comp_bot::lifter::wrist::peakOutputForward
static constexpr double peakOutputForward
Definition motors.h:179
motorConfig::comp_bot::lifter::wrist::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:190
motorConfig::comp_bot::lifter::wrist::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:186
motorConfig::comp_bot::lifter::wrist::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:184
motorConfig::comp_bot::lifter::wrist::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:191
motorConfig::comp_bot::lifter::wrist::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:181
motorConfig::comp_bot::lifter::wrist::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:183
motorConfig::comp_bot::oui_oui_placer
Definition motors.h:225
motorConfig::comp_bot::oui_oui_placer::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:237
motorConfig::comp_bot::oui_oui_placer::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:230
motorConfig::comp_bot::oui_oui_placer::inverted
static constexpr auto inverted
Definition motors.h:226
motorConfig::comp_bot::oui_oui_placer::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:235
motorConfig::comp_bot::oui_oui_placer::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:238
motorConfig::comp_bot::oui_oui_placer::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:231
motorConfig::comp_bot::oui_oui_placer::neutralMode
static constexpr auto neutralMode
Definition motors.h:229
motorConfig::comp_bot::oui_oui_placer::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:227
motorConfig::comp_bot::oui_oui_placer::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:228
motorConfig::comp_bot::oui_oui_placer::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:232
motorConfig::comp_bot::oui_oui_placer::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:234
motorConfig::comp_bot::oui_oui_placer::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:236
motorConfig::comp_bot::oui_oui_placer::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:233
motorConfig::practice_bot::drive::backLeftTurn
Definition motors.h:300
motorConfig::practice_bot::drive::backLeftTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:315
motorConfig::practice_bot::drive::backLeftTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:303
motorConfig::practice_bot::drive::backLeftTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:305
motorConfig::practice_bot::drive::backLeftTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:312
motorConfig::practice_bot::drive::backLeftTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:304
motorConfig::practice_bot::drive::backLeftTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:302
motorConfig::practice_bot::drive::backLeftTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:306
motorConfig::practice_bot::drive::backLeftTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:311
motorConfig::practice_bot::drive::backLeftTurn::inverted
static constexpr auto inverted
Definition motors.h:301
motorConfig::practice_bot::drive::backLeftTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:307
motorConfig::practice_bot::drive::backLeftTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:310
motorConfig::practice_bot::drive::backLeftTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:309
motorConfig::practice_bot::drive::backLeftTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:314
motorConfig::practice_bot::drive::backLeftTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:308
motorConfig::practice_bot::drive::backLeftTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:313
motorConfig::practice_bot::drive::backRightTurn
Definition motors.h:283
motorConfig::practice_bot::drive::backRightTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:290
motorConfig::practice_bot::drive::backRightTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:295
motorConfig::practice_bot::drive::backRightTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:287
motorConfig::practice_bot::drive::backRightTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:293
motorConfig::practice_bot::drive::backRightTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:296
motorConfig::practice_bot::drive::backRightTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:294
motorConfig::practice_bot::drive::backRightTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:291
motorConfig::practice_bot::drive::backRightTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:288
motorConfig::practice_bot::drive::backRightTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:298
motorConfig::practice_bot::drive::backRightTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:286
motorConfig::practice_bot::drive::backRightTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:285
motorConfig::practice_bot::drive::backRightTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:289
motorConfig::practice_bot::drive::backRightTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:292
motorConfig::practice_bot::drive::backRightTurn::inverted
static constexpr auto inverted
Definition motors.h:284
motorConfig::practice_bot::drive::backRightTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:297
motorConfig::practice_bot::drive::frontLeftTurn
Definition motors.h:249
motorConfig::practice_bot::drive::frontLeftTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:261
motorConfig::practice_bot::drive::frontLeftTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:256
motorConfig::practice_bot::drive::frontLeftTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:262
motorConfig::practice_bot::drive::frontLeftTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:255
motorConfig::practice_bot::drive::frontLeftTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:251
motorConfig::practice_bot::drive::frontLeftTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:254
motorConfig::practice_bot::drive::frontLeftTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:259
motorConfig::practice_bot::drive::frontLeftTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:264
motorConfig::practice_bot::drive::frontLeftTurn::inverted
static constexpr auto inverted
Definition motors.h:250
motorConfig::practice_bot::drive::frontLeftTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:263
motorConfig::practice_bot::drive::frontLeftTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:260
motorConfig::practice_bot::drive::frontLeftTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:257
motorConfig::practice_bot::drive::frontLeftTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:258
motorConfig::practice_bot::drive::frontLeftTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:252
motorConfig::practice_bot::drive::frontLeftTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:253
motorConfig::practice_bot::drive::frontRightTurn
Definition motors.h:266
motorConfig::practice_bot::drive::frontRightTurn::voltCompSat
static constexpr auto voltCompSat
Definition motors.h:271
motorConfig::practice_bot::drive::frontRightTurn::pid0_kI
static constexpr auto pid0_kI
Definition motors.h:277
motorConfig::practice_bot::drive::frontRightTurn::sensorPhase
static constexpr bool sensorPhase
Definition motors.h:268
motorConfig::practice_bot::drive::frontRightTurn::neutralDeadband
static constexpr auto neutralDeadband
Definition motors.h:269
motorConfig::practice_bot::drive::frontRightTurn::neutralMode
static constexpr auto neutralMode
Definition motors.h:270
motorConfig::practice_bot::drive::frontRightTurn::pid0_iZone
static constexpr auto pid0_iZone
Definition motors.h:280
motorConfig::practice_bot::drive::frontRightTurn::pid0_kD
static constexpr auto pid0_kD
Definition motors.h:278
motorConfig::practice_bot::drive::frontRightTurn::pid0_allowableError
static constexpr auto pid0_allowableError
Definition motors.h:281
motorConfig::practice_bot::drive::frontRightTurn::statusFrameMotorMode
static constexpr auto statusFrameMotorMode
Definition motors.h:272
motorConfig::practice_bot::drive::frontRightTurn::inverted
static constexpr auto inverted
Definition motors.h:267
motorConfig::practice_bot::drive::frontRightTurn::remoteFilter0_type
static constexpr auto remoteFilter0_type
Definition motors.h:274
motorConfig::practice_bot::drive::frontRightTurn::pid0_kP
static constexpr auto pid0_kP
Definition motors.h:276
motorConfig::practice_bot::drive::frontRightTurn::pid0_kF
static constexpr auto pid0_kF
Definition motors.h:279
motorConfig::practice_bot::drive::frontRightTurn::remoteFilter0_addr
static constexpr auto remoteFilter0_addr
Definition motors.h:273
motorConfig::practice_bot::drive::frontRightTurn::pid0_selectedSensor
static constexpr auto pid0_selectedSensor
Definition motors.h:275