[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

package org.usfirst.frc.team3501.robot;

import java.util.ArrayList;

import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.I2C.Port;

/**
 * The Constants stores constant values for all subsystems. This includes the
 * port values for motors and sensors, as well as important operational
 * constants for subsystems such as max and min values.
 */

public class Constants {
  public static class OI {
    // Computer Ports
    public final static int LEFT_STICK_PORT = 0;
    public final static int RIGHT_STICK_PORT = 1;

    public final static int PASS_PORTCULLIS_PORT = 0;
    public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
    public final static int PASS_DRAWBRIDGE_PORT = 0;
    public final static int PASS_SALLYPORT_PORT = 0;

    public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
    public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
    public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
    public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;

    public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
    public final static int SPIN1_PORT = 4;
    public final static int SPIN2_PORT = 5;
    public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
    public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;

    public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
    public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;

    public final static int TOGGLE_SCALING_PORT = 0;

  }

  public static class DriveTrain {
    // Drivetrain Motor Related Ports
    public static final int FRONT_LEFT = 1;
    public static final int FRONT_RIGHT = 6;
    public static final int REAR_LEFT = 2;
    public static final int REAR_RIGHT = 5;

    // Encoder related ports
    public final static int ENCODER_LEFT_A = 0;
    public final static int ENCODER_LEFT_B = 1;
    public final static int ENCODER_RIGHT_A = 9;
    public final static int ENCODER_RIGHT_B = 8;

    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
        / 256;

    public static double kp = 0.013, ki = 0.000015, kd = -0.002;
    public static double gp = 0.018, gi = 0.000015, gd = 0;
    public static double encoderTolerance = 8.0, gyroTolerance = 5.0;

    public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
    public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5,
        RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
    public static double time = 0;

    // Gearing constants
    public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
    public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;

    public static boolean inverted = false;

    public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  }

  public static class Scaler {
    // Piston channels
    public final static int FORWARD_CHANNEL = 6;
    public final static int REVERSE_CHANNEL = 0;

    // Winch port
    public final static int WINCH_MOTOR = 0;

    // Winch speeds
    public final static double WINCH_STOP_SPEED = 0.0;
    public final static double SCALE_SPEED = 0;
    public final static double SECONDS_TO_CLAMP = 2.0;

    // Winch timeout
    public final static int SECONDS_TO_SCALE = 0;

    public static boolean SCALING = false;

  }

  public static class Shooter {
    public static final int PORT = 0;
    public static final int PUNCH_FORWARD = 5;
    public static final int PUNCH_REVERSE = 1;
    public static final int ANGLE_ADJUSTER_PORT = 0;

    public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
    public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;

    // Encoder port
    public static final int ENCODER_PORT_A = 0;
    public static final int ENCODER_PORT_B = 0;
    public static final int RIGHT_HOOD_FORWARD = 2;
    public static final int RIGHT_HOOD_REVERSE = 4;
    public static final int LEFT_HOOD_FORWARD = 4;
    public static final int LEFT_HOOD_REVERSE = 2;

    public static final double DEFAULT_SHOOTER_SPEED = 0.5;

    public static final Value open = Value.kReverse;
    public static final Value closed = Value.kForward;

    public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;

    public static ArrayList<Double> speeds = new ArrayList<Double>();
    public static ArrayList<Double> distances = new ArrayList<Double>();

    public static enum State {
      RUNNING, STOPPED;
    }
  }

  public static class IntakeArm {
    public static final int ROLLER_PORT = 0;
    public static final int ARM_PORT = 1;
    public static final int POT_CHANNEL = 0;
    public static final double INTAKE_SPEED = 0.5;
    public static final double OUTPUT_SPEED = -0.5;
    public final static double FULL_RANGE = 270.0; // in degrees
    public final static double OFFSET = -135.0; // in degrees
    public static final double ZERO_ANGLE = 0;
    public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
  }

  public static class DefenseArm {
    // Potentiometer related ports
    public static final int ARM_CHANNEL = 0;
    public static final int ARM_PORT = 0;
    public static final int HAND_PORT = 1;
    public static final int HAND_CHANNEL = 1;
    public final static double FULL_RANGE = 270.0; // in degrees
    public final static double OFFSET = -135.0; // in degrees

    public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
    // level
    public final static double ARM_LENGTH = 0; // TODO: find actual length
    public final static double HAND_LENGTH = 0; // TODO: find actual length
    public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
    // height
  }

  public static class Auton {
    /*
     * Distance dead reckoning constants
     */
    public static final double POS1_DIST1 = 109;
    public static final double POS1_TURN1 = 60;
    public static final double POS1_DIST2 = 0;

    // constants for position 2
    public static final double POS2_DIST1 = 140;
    public static final double POS2_TURN1 = 60;
    public static final double POS2_DIST2 = 0;

    // constants for position 3
    public static final double POS3_DIST1 = 0;
    public static final double POS3_TURN1 = 90;
    public static final double POS3_DIST2 = 35.5;
    public static final double POS3_TURN2 = -90;
    public static final double POS3_DIST3 = 0;

    // constants for position 4
    public static final double POS4_DIST1 = 0;
    public static final double POS4_TURN1 = -90;
    public static final double POS4_DIST2 = 18.5;
    public static final double POS4_TURN2 = 90;
    public static final double POS4_DIST3 = 0;

    // constants for position 5
    public static final double POS5_DIST1 = 0;
    public static final double POS5_TURN1 = -90;
    public static final double POS5_DIST2 = 72.5;
    public static final double POS5_TURN2 = 90;
    public static final double POS5_DIST3 = 0;
    public static final double DRIVE_MAX_TIMEOUT = 3.0;
    public static final double TURN_MAX_TIMEOUT = 5.0;

    /*
     * Time dead Reckoning constants
     */
    public static final double POS1_DIST1_TIME = 109;
    public static final double POS1_DRIVE_MAXSPEED = 0.5;
    public static final double POS1_TURN1_TIME = 60;
    public static final double POS1_TURN_MAXSPEED = 0.5;
    public static final double POS1_DIST2_TIME = 0;

    // constants for position 2

    public static final double POS2_DIST1_TIME = 109;
    public static final double POS2_DRIVE_MAXSPEED = 0.5;
    public static final double POS2_TURN1_TIME = 60;
    public static final double POS2_TURN_MAXSPEED = 0.5;
    public static final double POS2_DIST2_TIME = 0;

    // constants for position 3

    public static final double POS3_DIST1_TIME = 109;
    public static final double POS3_DRIVE_MAXSPEED = 0.5;
    public static final double POS3_TURN1_TIME = 60;
    public static final double POS3_TURN_MAXSPEED = 0.5;
    public static final double POS3_DIST2_TIME = 0;
    // constants for position 4

    public static final double POS4_DIST1_TIME = 109;
    public static final double POS4_DRIVE_MAXSPEED = 0.5;
    public static final double POS4_TURN1_TIME = 60;
    public static final double POS4_TURN_MAXSPEED = 0.5;
    public static final double POS4_DIST2_TIME = 0;
    // constants for position 5

    public static final double POS5_DIST1_TIME = 109;
    public static final double POS5_DRIVE_MAXSPEED = 0.5;
    public static final double POS5_TURN1_TIME = 60;
    public static final double POS5_TURN_MAXSPEED = 0.5;
    public static final double POS5_DIST2_TIME = 0;

    // Passing Defenses Constants

    public static final double DEFAULT_SPEED = 0.5;
    public static final boolean IS_USING_TIME = true;

    // dead reckoning time and speed constants for driving through defenses
    // TODO: find the times it takes to pass each defense
    public static final double PASS_ROCK_WALL_TIME = 0;
    public static final double PASS_ROCK_WALL_SPEED = 0;
    public static final double PASS_ROCK_WALL_DIST = 0;
    public static final double PASS_LOW_BAR_TIME = 0;
    public static final double PASS_LOW_BAR_SPEED = 0;
    public static final double PASS_LOW_BAR_DIST = 0;
    public static final double PASS_MOAT_TIME = 0;
    public static final double PASS_MOAT_SPEED = 0;
    public static final double PASS_MOAT_DIST = 0;
    public static final double PASS_RAMPART_TIME = 0;
    public static final double PASS_RAMPART_SPEED = 0;
    public static final double PASS_RAMPART_DIST = 0;
    public static final double PASS_ROUGH_TERRAIN_TIME = 0;
    public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
    public static final double PASS_ROUGH_TERRAIN_DIST = 0;
  }

  public enum Direction {
    UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
  }

  public enum Defense {
    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
  }
}
Commit	Line	Data
38a404b3 KZ	1	package org.usfirst.frc.team3501.robot;
38a404b3 KZ	2
66bd9f82 CZ	3	import java.util.ArrayList;
66bd9f82 CZ	4
9b10474d	5	import edu.wpi.first.wpilibj.DoubleSolenoid;
2a099bc6	6	import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
0262918c E	7	import edu.wpi.first.wpilibj.I2C;
0262918c E	8	import edu.wpi.first.wpilibj.I2C.Port;
9b10474d	9
38a404b3 KZ	10	/**
	11	* The Constants stores constant values for all subsystems. This includes the
	12	* port values for motors and sensors, as well as important operational
	13	* constants for subsystems such as max and min values.
	14	*/
	15
	16	public class Constants {
200caf63 KZ	17	public static class OI {
	18	// Computer Ports
	19	public final static int LEFT_STICK_PORT = 0;
	20	public final static int RIGHT_STICK_PORT = 1;
2c9bcd75 CZ	21
	22	public final static int PASS_PORTCULLIS_PORT = 0;
	23	public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
52ef246c	24	public final static int PASS_DRAWBRIDGE_PORT = 0;
2c9bcd75 CZ	25	public final static int PASS_SALLYPORT_PORT = 0;
	26
	27	public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
	28	public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
	29	public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
	30	public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;
	31
	32	public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
52ef246c KZ	33	public final static int SPIN1_PORT = 4;
52ef246c KZ	34	public final static int SPIN2_PORT = 5;
2c9bcd75 CZ	35	public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
	36	public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
	37
	38	public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
	39	public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
	40
52ef246c KZ	41	public final static int TOGGLE_SCALING_PORT = 0;
52ef246c KZ	42
200caf63	43	}
38a404b3	44
200caf63 KZ	45	public static class DriveTrain {
200caf63 KZ	46	// Drivetrain Motor Related Ports
33141cdd	47	public static final int FRONT_LEFT = 1;
faabd6f8	48	public static final int FRONT_RIGHT = 6;
33141cdd	49	public static final int REAR_LEFT = 2;
faabd6f8	50	public static final int REAR_RIGHT = 5;
27615e61	51
200caf63	52	// Encoder related ports
33141cdd KZ	53	public final static int ENCODER_LEFT_A = 0;
	54	public final static int ENCODER_LEFT_B = 1;
	55	public final static int ENCODER_RIGHT_A = 9;
	56	public final static int ENCODER_RIGHT_B = 8;
45bdf5b9	57
5bc7e25f ME	58	public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
5bc7e25f ME	59	/ 256;
33141cdd	60
fb75626b KZ	61	public static double kp = 0.013, ki = 0.000015, kd = -0.002;
	62	public static double gp = 0.018, gi = 0.000015, gd = 0;
	63	public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
	64
33141cdd	65	public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
faabd6f8 KZ	66	public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5,
faabd6f8 KZ	67	RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
33141cdd	68	public static double time = 0;
2a099bc6 KZ	69
	70	// Gearing constants
	71	public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
	72	public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
	73
54c588d9 CZ	74	public static boolean inverted = false;
54c588d9 CZ	75
9d518a5c	76	public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
200caf63	77	}
ecf2c4a8	78
200caf63 KZ	79	public static class Scaler {
200caf63 KZ	80	// Piston channels
faabd6f8 KZ	81	public final static int FORWARD_CHANNEL = 6;
faabd6f8 KZ	82	public final static int REVERSE_CHANNEL = 0;
ecf2c4a8	83
200caf63 KZ	84	// Winch port
200caf63 KZ	85	public final static int WINCH_MOTOR = 0;
8b905afe	86
694c9fc9	87	// Winch speeds
cef820ab	88	public final static double WINCH_STOP_SPEED = 0.0;
eab4ce91	89	public final static double SCALE_SPEED = 0;
39a39f43	90	public final static double SECONDS_TO_CLAMP = 2.0;
52ef246c	91
edf10851	92	// Winch timeout
eab4ce91	93	public final static int SECONDS_TO_SCALE = 0;
edf10851	94
52ef246c KZ	95	public static boolean SCALING = false;
52ef246c KZ	96
200caf63	97	}
38a404b3	98
200caf63 KZ	99	public static class Shooter {
200caf63 KZ	100	public static final int PORT = 0;
faabd6f8	101	public static final int PUNCH_FORWARD = 5;
071ab315	102	public static final int PUNCH_REVERSE = 1;
200caf63	103	public static final int ANGLE_ADJUSTER_PORT = 0;
2c52cb6e	104
200caf63 KZ	105	public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
200caf63 KZ	106	public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
da0c4bd8	107
200caf63 KZ	108	// Encoder port
	109	public static final int ENCODER_PORT_A = 0;
	110	public static final int ENCODER_PORT_B = 0;
faabd6f8 KZ	111	public static final int RIGHT_HOOD_FORWARD = 2;
	112	public static final int RIGHT_HOOD_REVERSE = 4;
	113	public static final int LEFT_HOOD_FORWARD = 4;
	114	public static final int LEFT_HOOD_REVERSE = 2;
071ab315	115
ec821916 CZ	116	public static final double DEFAULT_SHOOTER_SPEED = 0.5;
ec821916 CZ	117
5930d874 CZ	118	public static final Value open = Value.kReverse;
5930d874 CZ	119	public static final Value closed = Value.kForward;
2c52cb6e	120
0262918c E	121	public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
0262918c E	122
66bd9f82 CZ	123	public static ArrayList<Double> speeds = new ArrayList<Double>();
	124	public static ArrayList<Double> distances = new ArrayList<Double>();
	125
200caf63 KZ	126	public static enum State {
	127	RUNNING, STOPPED;
	128	}
	129	}
40348cab	130
200caf63 KZ	131	public static class IntakeArm {
	132	public static final int ROLLER_PORT = 0;
	133	public static final int ARM_PORT = 1;
	134	public static final int POT_CHANNEL = 0;
	135	public static final double INTAKE_SPEED = 0.5;
	136	public static final double OUTPUT_SPEED = -0.5;
	137	public final static double FULL_RANGE = 270.0; // in degrees
	138	public final static double OFFSET = -135.0; // in degrees
	139	public static final double ZERO_ANGLE = 0;
4f0ad0ba	140	public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
200caf63	141	}
29f5cd04	142
200caf63 KZ	143	public static class DefenseArm {
	144	// Potentiometer related ports
	145	public static final int ARM_CHANNEL = 0;
	146	public static final int ARM_PORT = 0;
	147	public static final int HAND_PORT = 1;
	148	public static final int HAND_CHANNEL = 1;
	149	public final static double FULL_RANGE = 270.0; // in degrees
	150	public final static double OFFSET = -135.0; // in degrees
72fc3c9b	151
200caf63 KZ	152	public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
	153	// level
	154	public final static double ARM_LENGTH = 0; // TODO: find actual length
	155	public final static double HAND_LENGTH = 0; // TODO: find actual length
	156	public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
	157	// height
	158	}
1826a8dc	159
9728080f KZ	160	public static class Auton {
	161	/*
	162	* Distance dead reckoning constants
	163	*/
	164	public static final double POS1_DIST1 = 109;
	165	public static final double POS1_TURN1 = 60;
	166	public static final double POS1_DIST2 = 0;
	167
	168	// constants for position 2
	169	public static final double POS2_DIST1 = 140;
	170	public static final double POS2_TURN1 = 60;
	171	public static final double POS2_DIST2 = 0;
	172
	173	// constants for position 3
	174	public static final double POS3_DIST1 = 0;
	175	public static final double POS3_TURN1 = 90;
	176	public static final double POS3_DIST2 = 35.5;
	177	public static final double POS3_TURN2 = -90;
	178	public static final double POS3_DIST3 = 0;
	179
	180	// constants for position 4
	181	public static final double POS4_DIST1 = 0;
	182	public static final double POS4_TURN1 = -90;
	183	public static final double POS4_DIST2 = 18.5;
	184	public static final double POS4_TURN2 = 90;
	185	public static final double POS4_DIST3 = 0;
	186
	187	// constants for position 5
	188	public static final double POS5_DIST1 = 0;
	189	public static final double POS5_TURN1 = -90;
	190	public static final double POS5_DIST2 = 72.5;
	191	public static final double POS5_TURN2 = 90;
	192	public static final double POS5_DIST3 = 0;
	193	public static final double DRIVE_MAX_TIMEOUT = 3.0;
	194	public static final double TURN_MAX_TIMEOUT = 5.0;
	195
	196	/*
	197	* Time dead Reckoning constants
	198	*/
	199	public static final double POS1_DIST1_TIME = 109;
	200	public static final double POS1_DRIVE_MAXSPEED = 0.5;
	201	public static final double POS1_TURN1_TIME = 60;
	202	public static final double POS1_TURN_MAXSPEED = 0.5;
	203	public static final double POS1_DIST2_TIME = 0;
	204
	205	// constants for position 2
	206
	207	public static final double POS2_DIST1_TIME = 109;
	208	public static final double POS2_DRIVE_MAXSPEED = 0.5;
	209	public static final double POS2_TURN1_TIME = 60;
	210	public static final double POS2_TURN_MAXSPEED = 0.5;
	211	public static final double POS2_DIST2_TIME = 0;
	212
	213	// constants for position 3
	214
	215	public static final double POS3_DIST1_TIME = 109;
	216	public static final double POS3_DRIVE_MAXSPEED = 0.5;
	217	public static final double POS3_TURN1_TIME = 60;
	218	public static final double POS3_TURN_MAXSPEED = 0.5;
	219	public static final double POS3_DIST2_TIME = 0;
	220	// constants for position 4
	221
	222	public static final double POS4_DIST1_TIME = 109;
	223	public static final double POS4_DRIVE_MAXSPEED = 0.5;
224	public static final double POS4_TURN1_TIME = 60;
225	public static final double POS4_TURN_MAXSPEED = 0.5;
226	public static final double POS4_DIST2_TIME = 0;
227	// constants for position 5
228
229	public static final double POS5_DIST1_TIME = 109;
230	public static final double POS5_DRIVE_MAXSPEED = 0.5;
231	public static final double POS5_TURN1_TIME = 60;
232	public static final double POS5_TURN_MAXSPEED = 0.5;
233	public static final double POS5_DIST2_TIME = 0;
600a1a1c KZ	234
	235	// Passing Defenses Constants
	236
	237	public static final double DEFAULT_SPEED = 0.5;
c688e9da	238	public static final boolean IS_USING_TIME = true;
600a1a1c KZ	239
600a1a1c KZ	240	// dead reckoning time and speed constants for driving through defenses
01b9b0ec ME	241	// TODO: find the times it takes to pass each defense
	242	public static final double PASS_ROCK_WALL_TIME = 0;
	243	public static final double PASS_ROCK_WALL_SPEED = 0;
	244	public static final double PASS_ROCK_WALL_DIST = 0;
	245	public static final double PASS_LOW_BAR_TIME = 0;
	246	public static final double PASS_LOW_BAR_SPEED = 0;
	247	public static final double PASS_LOW_BAR_DIST = 0;
	248	public static final double PASS_MOAT_TIME = 0;
	249	public static final double PASS_MOAT_SPEED = 0;
	250	public static final double PASS_MOAT_DIST = 0;
	251	public static final double PASS_RAMPART_TIME = 0;
	252	public static final double PASS_RAMPART_SPEED = 0;
	253	public static final double PASS_RAMPART_DIST = 0;
	254	public static final double PASS_ROUGH_TERRAIN_TIME = 0;
	255	public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
	256	public static final double PASS_ROUGH_TERRAIN_DIST = 0;
9728080f KZ	257	}
9728080f KZ	258
5bc7e25f ME	259	public enum Direction {
	260	UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
	261	}
	262
200caf63 KZ	263	public enum Defense {
	264	PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
	265	}
38a404b3	266	}