constants.json

{
	"//": "TODO: Re-calculate/change values of constants to match new robot (and add entries in wiki to document them)",

	"HOSTNAME": 668,
	
	"CONTROLLER_CONSTANTS": {
	
		"CONTROLLER_MAIN_ID": 0,
		"CONTROLLER_AUX_ID": 1,
		"CONTROLLER_RATE_LIMIT": 3,

		"MACROS": {
			"START": "zeroGyro",
			"A": "",
			"B": "",
			"X": "",
			"Y": "",
			"L_BUMPER": "",
			"R_BUMPER": "",
			"L_STICK": "",
			"R_STICK": ""
		}
	},

	"MOTOR_CONSTANTS": {

		"MOTOR_DRIVE_FRONT_LEFT_ID": 5,
		"MOTOR_TURN_FRONT_LEFT_ID": 6,
		"ENCODER_TURN_FRONT_LEFT_ID": 11,

		"MOTOR_DRIVE_FRONT_RIGHT_ID": 1,
		"MOTOR_TURN_FRONT_RIGHT_ID": 2,
		"ENCODER_TURN_FRONT_RIGHT_ID": 9,

		"MOTOR_DRIVE_REAR_LEFT_ID": 7,
		"MOTOR_TURN_REAR_LEFT_ID": 8,
		"ENCODER_TURN_REAR_LEFT_ID": 12,

		"MOTOR_DRIVE_REAR_RIGHT_ID": 3,
		"MOTOR_TURN_REAR_RIGHT_ID": 4,
		"ENCODER_TURN_REAR_RIGHT_ID": 10
	},

	"OFFSETS": {

		"FRONT_RIGHT": -40.429,
		"REAR_RIGHT": 66.181,
		"FRONT_LEFT": -94.921,
		"REAR_LEFT": -1.142
	},

	"CALCULATIONS": {

		"FINAL_DRIVE_RATIO": 2430,
		"FINAL_TURN_RATIO": 0.0466666667,
		"WHEEL_CIRCUMFERENCE": 11.9380521,
		"MODULE_MAX_SPEED": 16.3,
		"CHASSIS_MAX_SPEED": 16.3,

		"MODULE_MAX_ANGULAR_VELOCITY": 12.5663706,
		"MODULE_MAX_ANGULAR_ACCELERATION": 25.1327412,

		"MOTOR_MAX_OUTPUT": 0.5,
		"MOTOR_DEADBAND": 0.1
	},

	"PATHPLANNER_CONSTANTS": {
		"AUTONOMOUS_COMMANDS": {
			"1": "",
			"2": "",
			"3": ""
		},

		"TRANSLATION_PID_CONSTANTS": [
			0.5,
			0.0,
			0.0
		],

		"ROTATION_PID_CONSTANTS": [
			0.0,
			0.0,
			0.0
		],

		"MAX_SPEED": 4.5,
		"DRIVE_BASE_RADIUS": 13.625
	}
}