control_loops.h

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#pragma once
 
#include <ctre/phoenix6/configs/Configs.hpp>
#include <ctre/phoenix6/signals/SpnEnums.hpp>
 
#include "units/angular_acceleration.h"
#include "units/angular_jerk.h"
#include "units/angular_velocity.h"
 
namespace controlLoop {
  namespace comp_bot {
    namespace drive {
      struct rotate {
        constexpr static double kP = 137;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static double kS = 0.0;
        constexpr static double kV = 0.0;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.0;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static;
      };  // namespace rotate
      struct drive {
        constexpr static double kP = 0.4;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static double kS = 0.0;
        constexpr static double kV = 0.15;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.0;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static;
      };  // namespace drive
      struct linear_follower {
        constexpr static double kP = 5.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
      };  // namespace linear_follower
      struct rotational_follower {
        constexpr static double kP = 10.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static auto angularVelocity = units::degrees_per_second_t{360};
        constexpr static auto angularAcceleration = units::degrees_per_second_squared_t{360};
      };  // namespace rotational_follower
    }  // namespace drive
    namespace elevator {
      struct elevator {
        constexpr static double kP = 11.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.33;
        constexpr static double kS = 0.0;
        constexpr static double kV = 0.15;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.5;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static;
        constexpr static auto motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{35.0};
        constexpr static auto motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{15.0};
        constexpr static auto motionMagic_jerk = units::angular_jerk::turns_per_second_cubed_t{0.0};
        constexpr static auto motionMagic_expo_kV = ctre::unit::volts_per_turn_per_second_t{0.1};
        constexpr static auto motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{0.13};
      };
      struct arm {
        constexpr static double kP = 60.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.3;
        constexpr static double kS = 0.5;
        constexpr static double kV = 9.5;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.0;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine;
        constexpr static auto motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{0};
        constexpr static auto motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{0};
        constexpr static auto motionMagic_jerk = units::angular_jerk::turns_per_second_cubed_t{0.0};
        constexpr static auto motionMagic_expo_kV = ctre::unit::volts_per_turn_per_second_t{0.1};
        constexpr static auto motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{5};
      };
      struct wrist {
        constexpr static double kP = 40.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static double kS = 0.45;
        constexpr static double kV = 1.4;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.0;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static;
        constexpr static auto motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{65.0};
        constexpr static auto motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{10.0};
        constexpr static auto motionMagic_jerk = units::angular_jerk::turns_per_second_cubed_t{0.0};
        constexpr static auto motionMagic_expo_kV = ctre::unit::volts_per_turn_per_second_t{5.0};
        constexpr static auto motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{0.1};
      };
    }  // namespace elevator
    namespace climber {
      struct climber {
        constexpr static double kP = 60.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static double kS = 0.0;
        constexpr static double kV = 20.0;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.26;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine;
        constexpr static auto motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{65.0};
        constexpr static auto motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{10.0};
        constexpr static auto motionMagic_jerk = units::angular_jerk::turns_per_second_cubed_t{0.0};
        constexpr static auto motionMagic_expo_kV = ctre::unit::volts_per_turn_per_second_t{5.0};
        constexpr static auto motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{0.1};
      };
    }  // namespace climber
    namespace intake {
      struct intake {
        constexpr static double kP = 0.0;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static double kS = 0.0;
        constexpr static double kV = 0.0;
        constexpr static double kA = 0.0;
        constexpr static double kG = 0.0;
        constexpr static int gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static;
      };
 
    }  // namespace intake
  }  // namespace comp_bot
  namespace practice_bot {
    namespace drive {
      using rotate = controlLoop::comp_bot::drive::rotate;
      using drive = controlLoop::comp_bot::drive::drive;
      using linear_follower = controlLoop::comp_bot::drive::linear_follower;
      using rotational_follower = controlLoop::comp_bot::drive::rotational_follower;
    }  // namespace drive
    namespace elevator {
      using elevator = controlLoop::comp_bot::elevator::elevator;
      using arm = controlLoop::comp_bot::elevator::arm;
      using wrist = controlLoop::comp_bot::elevator::wrist;
    }  // namespace elevator
    namespace climber {
      using climber = controlLoop::comp_bot::climber::climber;
    }  // namespace climber
    namespace intake {
      using intake = controlLoop::comp_bot::intake::intake;
    }  // namespace intake
  }  // namespace practice_bot
}  // namespace controlLoop