GlobalConfig.java

package org.firstinspires.ftc.teamcode;

import androidx.annotation.NonNull;

import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;

import org.firstinspires.ftc.teamcode.drive.DriveConstants;
import org.firstinspires.ftc.teamcode.util.utilclasses.Encoder.Direction;
import org.firstinspires.ftc.teamcode.util.utilclasses.Encoder;

@Config
public class GlobalConfig {

    //make all fields final

    //control + click class to go to it

    DriveConstants controlClickForDriveConstants;

    public enum Alliance{
        RED,
        BLUE;

        @NonNull
        @Override
        public String toString() {
            return super.toString();
        }
    }

    public enum PipelineResult {
        //TODO: insert pipelineresults here
        ONE,
        TWO,
        THREE
    }

    public enum Side {
        AUDIENCE,
        STAGE
    }

    public enum AutonomousType {
        PARKING,
        STACK
    }

    //TODO: Add more config
    public static final String motorFL = "motorFL", motorFR = "motorFR", motorBL = "motorBL", motorBR = "motorBR";

    public static Alliance alliance = Alliance.RED;

    public static Side side = Side.AUDIENCE;

    public static AutonomousType autonomousType = AutonomousType.STACK;

    public static PipelineResult pipelineResult = PipelineResult.ONE;

    public static class SensorFusionValues{
        public static final double[] sensorFusionHeadingWeights = {0.225, 0.225, 0.225, 0.225, 0},
                sensorFusionPositionWeights = {0.15, 0.15, 0.15, 0.15, 0.4};
    }

    public static class EncoderValues{
        public static final Pose2d sideEncoder = new Pose2d(0.1965, 4.5, 0), centerEncoder = new Pose2d(-5.2, 0.75, Math.toRadians(90));
        public static final String leftEncoderPort = "motorFL", rightEncoderPort = "motorBL", centerEncoderPort = "motorFR";
        public static final Encoder.Direction leftEncoderDirection = Direction.REVERSE;
        public static final Encoder.Direction rightEncoderDirection = Direction.FORWARD;
        public static final Encoder.Direction centerEncoderDirection = Direction.REVERSE;
    }

}