Blame - frc971/control_loops/python/constants.py - RealtimeRoboticsGroup/test

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Het Satasiya	9633d4b	2020-08-16 15:31:17 -0700	[diff] [blame]	1	from gi.repository import Gtk
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	2	from collections import namedtuple
John Park	91e6973	2019-03-03 13:12:43 -0800	[diff] [blame]	3
Het Satasiya	9633d4b	2020-08-16 15:31:17 -0700	[diff] [blame]	4	window = Gtk.Window()
				5	screen = window.get_screen()
				6
				7	#Set screen size for rest of program.
Austin Schuh	b2d77af	2021-03-31 20:07:21 -0700	[diff] [blame]	8	SCREEN_SIZE = screen.get_height() / 1.5
John Park	91e6973	2019-03-03 13:12:43 -0800	[diff] [blame]	9
Het Satasiya	9633d4b	2020-08-16 15:31:17 -0700	[diff] [blame]	10	# Placeholder value
				11	ROBOT_SIDE_TO_BALL_CENTER = 0.15
John Park	91e6973	2019-03-03 13:12:43 -0800	[diff] [blame]	12	BALL_RADIUS = 0.165
Het Satasiya	9633d4b	2020-08-16 15:31:17 -0700	[diff] [blame]	13
				14	# Placeholder value
				15	ROBOT_SIDE_TO_HATCH_PANEL = 0.1
John Park	91e6973	2019-03-03 13:12:43 -0800	[diff] [blame]	16	HATCH_PANEL_WIDTH = 0.4826
				17
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	18	FieldType = namedtuple(
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	19	'Field', ['name', 'tags', 'year', 'width', 'length', 'robot', 'field_id'])
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	20	RobotType = namedtuple(
				21	"Robot", ['width', 'length'])
John Park	cf54516	2020-02-23 20:07:25 -0800	[diff] [blame]	22
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	23	GALACTIC_SEARCH = "Galactic Search"
				24	ARED = "A Red"
				25	BRED = "B Red"
				26	ABLUE = "A Blue"
				27	BBLUE = "B Blue"
				28	AUTONAV = "AutoNav"
				29	BOUNCE = "Bounce"
				30	SLALOM = "Slalom"
				31	BARREL = "Barrel"
				32
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	33	Robot2019 = RobotType(width=0.65, length=0.8)
				34	Robot2020 = RobotType(width=0.8128, length=0.8636) # 32 in x 34 in
				35	Robot2021 = Robot2020
Henry Speiser	b0703aa	2022-03-14 22:19:40 -0700	[diff] [blame]	36	Robot2022 = RobotType(width=0.8763, length=0.96647)
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	37
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	38	FIELDS = {
				39	"2019 Field":
				40	FieldType(
				41	"2019 Field",
				42	tags=[],
				43	year=2019,
				44	width=8.258302,
				45	length=8.258302,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	46	robot=Robot2019,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	47	field_id="2019"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	48	"2020 Field":
				49	FieldType(
				50	"2020 Field",
				51	tags=[],
				52	year=2020,
				53	width=15.98295,
				54	length=8.21055,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	55	robot=Robot2020,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	56	field_id="2020"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	57	"2021 Galactic Search BRed":
				58	FieldType(
				59	"2021 Galactic Search BRed",
				60	tags=[GALACTIC_SEARCH, BRED],
				61	year=2021,
				62	width=9.144,
				63	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	64	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	65	field_id="red_b"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	66	"2021 Galactic Search ARed":
				67	FieldType(
				68	"2021 Galactic Search ARed",
				69	tags=[GALACTIC_SEARCH, ARED],
				70	year=2021,
				71	width=9.144,
				72	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	73	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	74	field_id="red_a"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	75	"2021 Galactic Search BBlue":
				76	FieldType(
				77	"2021 Galactic Search BBlue",
				78	tags=[GALACTIC_SEARCH, BBLUE],
				79	year=2021,
				80	width=9.144,
				81	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	82	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	83	field_id="blue_b"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	84	"2021 Galactic Search ABlue":
				85	FieldType(
				86	"2021 Galactic Search ABlue",
				87	tags=[GALACTIC_SEARCH, ABLUE],
				88	year=2021,
				89	width=9.144,
				90	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	91	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	92	field_id="blue_a"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	93	"2021 AutoNav Barrel":
				94	FieldType(
				95	"2021 AutoNav Barrel",
				96	tags=[AUTONAV, BARREL],
				97	year=2021,
				98	width=9.144,
				99	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	100	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	101	field_id="autonav_barrel"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	102	"2021 AutoNav Slalom":
				103	FieldType(
				104	"2021 AutoNav Slalom",
				105	tags=[AUTONAV, SLALOM],
				106	year=2021,
				107	width=9.144,
				108	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	109	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	110	field_id="autonav_slalom"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	111	"2021 AutoNav Bounce":
				112	FieldType(
				113	"2021 AutoNav Bounce",
				114	tags=[AUTONAV, BOUNCE],
				115	year=2021,
				116	width=9.144,
				117	length=4.572,
Ravago Jones	5e09c07	2021-03-27 13:21:03 -0700	[diff] [blame]	118	robot=Robot2021,
Ravago Jones	c26b916	2021-06-30 20:12:48 -0700	[diff] [blame]	119	field_id="autonav_bounce"),
Griffin Bui	41a08f3	2022-02-26 16:20:29 -0800	[diff] [blame]	120	"2022 Field":
				121	FieldType(
				122	"2022 Field",
				123	tags=[],
				124	year=2022,
				125	width=16.4592,
				126	length=8.2296,
				127	robot=Robot2022,
				128	field_id="2022"),
Ravago Jones	5f787df	2021-01-23 16:26:27 -0800	[diff] [blame]	129	}
				130
Griffin Bui	41a08f3	2022-02-26 16:20:29 -0800	[diff] [blame]	131	FIELD = FIELDS["2022 Field"]
John Park	cf54516	2020-02-23 20:07:25 -0800	[diff] [blame]	132
James Kuszmaul	1c933e0	2020-03-07 16:17:51 -0800	[diff] [blame]	133
Ravago Jones	09f5972	2021-03-03 21:11:41 -0800	[diff] [blame]	134	def get_json_folder(field):
				135	if field.year == 2020 or field.year == 2021:
				136	return "y2020/actors/splines"
Griffin Bui	41a08f3	2022-02-26 16:20:29 -0800	[diff] [blame]	137	elif field.year == 2022:
				138	return "y2022/actors/splines"
Ravago Jones	09f5972	2021-03-03 21:11:41 -0800	[diff] [blame]	139	else:
				140	return "frc971/control_loops/python/spline_jsons"
				141
John Park	cf54516	2020-02-23 20:07:25 -0800	[diff] [blame]	142	def inToM(i):
James Kuszmaul	1c933e0	2020-03-07 16:17:51 -0800	[diff] [blame]	143	return (i * 0.0254)