30 lines
719 B
Python
30 lines
719 B
Python
import enum
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# Should we apply deadband correction to the controller inputs?
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CONTROLLER_CORRECT_FOR_DEADBAND = True
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# The deadband for the controller joysticks
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CONTROLLER_DEADBAND = 0.3
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# The port the controller is connected to
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CONTROLLER_PORT = 0
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@enum.unique
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class CANID(enum.IntEnum):
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# CAN IDs for motors and other devices
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FRONT_LEFT_DRIVE = 12
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FRONT_LEFT_STEER = 3
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FRONT_LEFT_STEER_ENCODER = 10
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FRONT_RIGHT_DRIVE = 5
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FRONT_RIGHT_STEER = 6
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FRONT_RIGHT_STEER_ENCODER = 4
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REAR_RIGHT_DRIVE = 9
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REAR_RIGHT_STEER = 11
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REAR_RIGHT_STEER_ENCODER = 4
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REAR_LEFT_DRIVE = 8
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REAR_LEFT_STEER = 2
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REAR_LEFT_STEER_ENCODER = 7
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# Pigeon2 IMU
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PIGEON = 20 |