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CONSTANTS_GUIDE.md

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🎯 CONSTANTS GUIDE - Single Source of Truth

Last Updated: Competition prep - Week before competition

⚠️ IMPORTANT: WHERE TO UPDATE VALUES

✅ USE THIS FILE FOR EVERYTHING:

📁 RobotConstants.java (TeamCode/src/main/java/org/firstinspires/ftc/teamcode/core/constants/)

All competition teleop settings are here:

  • PIDF gains (kP, kI, kD, kF)
  • Default RPM
  • All 7 shooting ranges (distances, RPM, hood positions)
  • Hood positions
  • Transfer ramp positions
  • Drive control settings
  • Turret control settings
  • Limelight camera specs

❌ DO NOT USE:

📁 TeleOpConstants.java - DEPRECATED - Kept for backwards compatibility only

📝 HOW TO UPDATE SETTINGS:

1. After Tuning PIDF Gains:

Steps:

  1. Run FlywheelPIDFTuner OpMode
  2. Tune gains using gamepad controls
  3. Press B to save gains to telemetry log
  4. Open RobotConstants.java
  5. Go to lines 20-23
  6. Update these values: 
    public static final double FLYWHEEL_KP = 0.00035;   // Copy from telemetry
public static final double FLYWHEEL_KI = 0.000025;  // Copy from telemetry
public static final double FLYWHEEL_KD = 0.00015;   // Copy from telemetry
public static final double FLYWHEEL_KF = 0.000215;  // Copy from telemetry
  7. Recompile and test in teleop

Telemetry log format:

=== TUNED GAINS - COPY TO RobotConstants.java ===
FLYWHEEL_KP = 0.000350;
FLYWHEEL_KI = 0.000025;
FLYWHEEL_KD = 0.000150;
FLYWHEEL_KF = 0.000215;
DEFAULT_TARGET_RPM = 3500;
Update these in RobotConstants.java lines 20-23!

2. After Testing Shooting Ranges:

Steps:

  1. Set up robot at test distance (e.g., 4.0 ft)
  2. Use distance lock and shoot
  3. If shots fall short → Increase RPM
  4. If shots overshoot → Decrease RPM
  5. Open RobotConstants.java
  6. Find the appropriate range (e.g., RANGE_4 at line 60)
  7. Update RPM value: 
    // Before:
public static final double RANGE_4_FLYWHEEL_RPM = 3400;

// After testing - shots fell short:
public static final double RANGE_4_FLYWHEEL_RPM = 3500;  // Increased by 100
  8. Recompile and re-test

Range locations in RobotConstants.java:

  • Range 1 (2.47-2.84 ft): Lines 40-43
  • Range 2 (2.84-3.2 ft): Lines 46-49
  • Range 3 (3.21-4.0 ft): Lines 52-55
  • Range 4 (4.0-4.5 ft): Lines 58-61
  • Range 5 (4.6-5.0 ft): Lines 64-67
  • Range 6 (4.84-5.25 ft): Lines 70-73
  • Range 7 (5.2-5.7 ft): Lines 76-79
  • Far Zone (5.7+ ft): Lines 82-84

3. Other Common Adjustments:

What to Change Line Number Constant Name
Default flywheel RPM 20 DEFAULT_TARGET_RPM
Default hood position 32 HOOD_DEFAULT_POSITION
Transfer ramp up position 35 TRANSFER_UP_POSITION
Transfer ramp down position 36 TRANSFER_DOWN_POSITION
Turret center position 95 TURRET_CENTER_POSITION
Driving speed when shooting 78 SPEED_SHOOTING_MULTIPLIER
Enable/disable PIDF mode 15 USE_VELOCITY_CONTROL

🚨 EMERGENCY: Disable PIDF Mode

If PIDF velocity control causes problems during competition:

RobotConstants.java line 15:

// Change this:
public static final boolean USE_VELOCITY_CONTROL = true;

// To this:
public static final boolean USE_VELOCITY_CONTROL = false;  // FALLBACK TO POWER MODE

Recompile - flywheel will use old power percentage mode instead.

✅ QUICK REFERENCE:

ONLY UPDATE VALUES IN:

TeamCode/
  └── src/main/java/org/firstinspires/ftc/teamcode/core/constants/
      └── RobotConstants.java  ← UPDATE HERE ONLY!

Files that AUTO-USE these values:

  • ✅ CompetitionTeleOpBase.java (competition teleop)
  • ✅ Launcher.java (flywheel component)
  • ✅ FlywheelPIDFTuner.java (tuning program)
  • ✅ DistanceCalculator.java (limelight distance)

After updating RobotConstants.java:

  1. Save file
  2. Recompile (Build → Make Project)
  3. Deploy to robot
  4. Test changes

📋 PRE-COMPETITION CHECKLIST:

  • PIDF gains tuned and updated in RobotConstants.java
  • All 7 shooting ranges tested and RPM values confirmed
  • Hood positions verified for each range
  • Default values set correctly
  • Compiled and deployed to robot
  • Full shooting workflow tested

Remember: RobotConstants.java is your SINGLE SOURCE OF TRUTH! Update values there, recompile, and everything else updates automatically.