Constants

You may have noticed that there is a Constants file in the pedroPathing package. This is where you configure all your constants for Pedro. It contains four types of constants:

1. Follower constants consist of values from the automatic, PID, and centripetal tuners.
2. Drivetrain constants contain constants specific to your drivetrain type. For example, mecanum drivetrain constants contain the motor names.
3. Localizer constants contain constants specific to your localizer. For example, OTOS constants include the hardware map name of the OTOS and the offset.
4. Path constraints determine under what conditions a path may end.

There is also a createFollower method that constructs the follower. You will call this method in your OpModes.

Below is a starting Constants file. The different tuning pages will guide you through modifying it to suit your robot.

public class Constants {
    public static FollowerConstants followerConstants = new FollowerConstants();

    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 3, 1);

    public static Follower createFollower(HardwareMap hardwareMap) {
        return new FollowerBuilder(followerConstants, hardwareMap)
                .pathConstraints(pathConstraints)
                .build();
    }
}