frc971/control_loops/python/constants.py

from gi.repository import Gtk
from collections import namedtuple

window = Gtk.Window()
screen = window.get_screen()

#Set screen size for rest of program.
SCREEN_SIZE = screen.get_height() / 3

# Placeholder value
ROBOT_SIDE_TO_BALL_CENTER = 0.15
BALL_RADIUS = 0.165

# Placeholder value
ROBOT_SIDE_TO_HATCH_PANEL = 0.1
HATCH_PANEL_WIDTH = 0.4826

FieldType = namedtuple(
    'Field', ['name', 'tags', 'year', 'width', 'length', 'robot', 'json_name'])
RobotType = namedtuple(
        "Robot", ['width', 'length'])

GALACTIC_SEARCH = "Galactic Search"
ARED = "A Red"
BRED = "B Red"
ABLUE = "A Blue"
BBLUE = "B Blue"
AUTONAV = "AutoNav"
BOUNCE = "Bounce"
SLALOM = "Slalom"
BARREL = "Barrel"

Robot2019 = RobotType(width=0.65, length=0.8)
Robot2020 = RobotType(width=0.8128, length=0.8636) # 32 in x 34 in
Robot2021 = Robot2020

FIELDS = {
    "2019 Field":
    FieldType(
        "2019 Field",
        tags=[],
        year=2019,
        width=8.258302,
        length=8.258302,
        robot=Robot2019,
        json_name="spline_2019.json"),
    "2020 Field":
    FieldType(
        "2020 Field",
        tags=[],
        year=2020,
        width=15.98295,
        length=8.21055,
        robot=Robot2020,
        json_name="spline_2020.json"),
    "2021 Galactic Search BRed":
    FieldType(
        "2021 Galactic Search BRed",
        tags=[GALACTIC_SEARCH, BRED],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="spline_red_b.json"),
    "2021 Galactic Search ARed":
    FieldType(
        "2021 Galactic Search ARed",
        tags=[GALACTIC_SEARCH, ARED],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="spline_red_a.json"),
    "2021 Galactic Search BBlue":
    FieldType(
        "2021 Galactic Search BBlue",
        tags=[GALACTIC_SEARCH, BBLUE],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="spline_blue_b.json"),
    "2021 Galactic Search ABlue":
    FieldType(
        "2021 Galactic Search ABlue",
        tags=[GALACTIC_SEARCH, ABLUE],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="spline_blue_a.json"),
    "2021 AutoNav Barrel":
    FieldType(
        "2021 AutoNav Barrel",
        tags=[AUTONAV, BARREL],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="autonav_barrel.json"),
    "2021 AutoNav Slalom":
    FieldType(
        "2021 AutoNav Slalom",
        tags=[AUTONAV, SLALOM],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="autonav_slalom.json"),
    "2021 AutoNav Bounce":
    FieldType(
        "2021 AutoNav Bounce",
        tags=[AUTONAV, BOUNCE],
        year=2021,
        width=9.144,
        length=4.572,
        robot=Robot2021,
        json_name="autonav_bounce.json"),
}

FIELD = FIELDS["2021 Galactic Search BRed"]


def get_json_folder(field):
    if field.year == 2020 or field.year == 2021:
        return "y2020/actors/splines"
    else:
        return "frc971/control_loops/python/spline_jsons"


def pxToM(p):
    return p * FIELD.width / SCREEN_SIZE


def mToPx(m):
    return (m * SCREEN_SIZE / FIELD.width)


def inToM(i):
    return (i * 0.0254)