measure_up.h

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#pragma once
 
#include <argos_lib/general/angle_utils.h>
#include <frc/geometry/Translation2d.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/length.h>
 
#include <array>
 
namespace measure_up {
  constexpr auto bumperExtension = 3_in;  
  namespace chassis {
    constexpr units::inch_t width{25.0};
    constexpr units::inch_t length{34.0};
  }  // namespace chassis
  namespace swerve_offsets {
    constexpr auto frontLeftLOffset = 2.625_in;
    constexpr auto frontLeftWOffset = 2.625_in;
    constexpr auto frontRightLOffset = 2.625_in;
    constexpr auto frontRightWOffset = 2.625_in;
    constexpr auto backRightWOffset = 2.625_in;
    constexpr auto backRightLOffset = 2.625_in;
    constexpr auto backLeftWOffset = 2.625_in;
    constexpr auto backLeftLOffset = 2.625_in;
  }  // namespace swerve_offsets
 
  namespace camera_front {
    constexpr auto cameraX = 0_in;  
    constexpr auto cameraZ = 7.25_in;
    constexpr auto cameraMountAngle = 24.9_deg;
    constexpr auto cameraHeight = 28.5_in;
    constexpr auto vFov = 24.85_deg * 2;
    constexpr auto hFov = 29.8_deg * 2;
  }  // namespace camera_front
  namespace camera_back {}  // namespace camera_back
  namespace elevator {
    namespace elevator {
      constexpr auto homeHeight = 10.1875_in;
      constexpr auto minHeight = 10.75_in;
      constexpr auto maxHeight = 65_in;
    }  // namespace elevator
    namespace arm {
      constexpr auto minAngle = -12_deg;
      constexpr auto maxAngle = 202_deg;
      constexpr auto internalMinAngle = 75_deg;
      constexpr auto internalMaxAngle = 105_deg;
    }  // namespace arm
    namespace wrist {
      constexpr auto minAngle = -90_deg;
      constexpr auto maxAngle = 90_deg;
    }  // namespace wrist
  }  // namespace elevator
  namespace climber {
    constexpr auto minAngle = -25_deg;
    constexpr auto maxAngle = 133_deg;
    constexpr auto climbWinchAngle = 87_deg;
  }  // namespace climber
  namespace reef {
    constexpr auto leftReefScootDistance = 0.60_m + 0.5_in;
    constexpr auto rightReefScootDistance = 0.22_m + 1.5_in;
    constexpr auto algaeReefScootDistance = 0.35_m + 0.0_in;
    constexpr auto reefToRobotCenterMinimum = 0.4_m + 1.25_in;
    constexpr auto reefToRobotCenterMinimumL1 = 0.4_m + 3.75_in;
    constexpr auto reefToRobotCenterMinimumAlgae = 0.66_m - 3.0_in;
    constexpr auto reefTagToCameraPlane = 0_deg;
    constexpr auto reefValidAlignmentDistance = 1.5_in;
    constexpr auto reefValidAlignmentAngle = 2_deg;
    constexpr auto reefErrorFloorForward = 0.5_in;
    constexpr auto reefErrorFloorLat = 0.5_in;
    constexpr auto reefLateralThreshold = 3_in;
    constexpr auto visionMinSpeed = 0.04;
    constexpr auto visionMaxSpeed = 0.3;
    constexpr auto rotationThreshold = 10.0_deg;
    constexpr auto rotationThreshold2 = 15.0_deg;
  }  // namespace reef
}  // namespace measure_up