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

package org.usfirst.frc.team3501.robot;

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

/**
 * 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 final static int PCM_MODULE_A = 9;
  public final static int PCM_MODULE_B = 10;

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

    // Left Joystick
    public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
    public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;

    // Right Joystick
    public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
    public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
    public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
    public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;

  }

  public static class DriveTrain {
    // Drivetrain Motor Related Ports
    public static final int DRIVE_FRONT_LEFT = 1;
    public static final int DRIVE_REAR_LEFT = 2;
    public static final int DRIVE_FRONT_RIGHT = 6;
    public static final int DRIVE_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 = 3;
    public final static int ENCODER_RIGHT_B = 4;

    public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
    public static final int LEFT_SHIFT_FORWARD = 3;
    public static final int LEFT_SHIFT_REVERSE = 6;
    public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
    public static final int RIGHT_SHIFT_FORWARD = 2;
    public static final int RIGHT_SHIFT_REVERSE = 7;

    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 encoderTolerance = 8.0;

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

  public static class Shooter {
    public static final int CATAPULT1_MODULE = PCM_MODULE_B;
    public static final int CATAPULT1_FORWARD = 4;
    public static final int CATAPULT1_REVERSE = 1;
    public static final int CATAPULT2_MODULE = PCM_MODULE_A;
    public static final int CATAPULT2_FORWARD = 0;
    public static final int CATAPULT2_REVERSE = 1;

    public static final Value shoot = Value.kForward;
    public static final Value reset = Value.kReverse;
    public static final double WAIT_TIME = 2.0; // In seconds
  }

  public static class IntakeArm {
    public static final int INTAKE_ROLLER_PORT = 8;

    // for pistons
    public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
    public static final int LEFT_INTAKE_FORWARD = 5;
    public static final int LEFT_INTAKE_REVERSE = 2;
    public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
    public static final int RIGHT_INTAKE_FORWARD = 5;
    public static final int RIGHT_INTAKE_REVERSE = 0;

    public static final Value EXTEND = DoubleSolenoid.Value.kForward;
    public static final Value RETRACT = DoubleSolenoid.Value.kReverse;

    public static final int IN = 1;
    public static final int OUT = -1;

    // for roller
    public static final double INTAKE_SPEED = 0.5;
    public static final double OUTPUT_SPEED = -0.5;
  }
}
Commit	Line	Data
38a404b3 KZ	1	package org.usfirst.frc.team3501.robot;
38a404b3 KZ	2
9b10474d	3	import edu.wpi.first.wpilibj.DoubleSolenoid;
2a099bc6	4	import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
9b10474d	5
38a404b3 KZ	6	/**
	7	* The Constants stores constant values for all subsystems. This includes the
	8	* port values for motors and sensors, as well as important operational
	9	* constants for subsystems such as max and min values.
	10	*/
	11
	12	public class Constants {
e4fbab02 HD	13	public final static int PCM_MODULE_A = 9;
	14	public final static int PCM_MODULE_B = 10;
	15
200caf63 KZ	16	public static class OI {
	17	// Computer Ports
	18	public final static int LEFT_STICK_PORT = 0;
	19	public final static int RIGHT_STICK_PORT = 1;
2c9bcd75	20
e1f7a742 HD	21	// Left Joystick
	22	public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
	23	public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
	24	public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
	25	public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
	26	public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
	27	public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;
	28
	29	// Right Joystick
	30	public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
	31	public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
	32	public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
	33	public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
	34	public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
	35	public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;
52ef246c	36
200caf63	37	}
38a404b3	38
200caf63 KZ	39	public static class DriveTrain {
200caf63 KZ	40	// Drivetrain Motor Related Ports
e1f7a742 HD	41	public static final int DRIVE_FRONT_LEFT = 1;
	42	public static final int DRIVE_REAR_LEFT = 2;
	43	public static final int DRIVE_FRONT_RIGHT = 6;
	44	public static final int DRIVE_REAR_RIGHT = 5;
27615e61	45
200caf63	46	// Encoder related ports
33141cdd KZ	47	public final static int ENCODER_LEFT_A = 0;
33141cdd KZ	48	public final static int ENCODER_LEFT_B = 1;
571a0e2a HD	49	public final static int ENCODER_RIGHT_A = 3;
	50	public final static int ENCODER_RIGHT_B = 4;
	51
e1f7a742 HD	52	public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
	53	public static final int LEFT_SHIFT_FORWARD = 3;
	54	public static final int LEFT_SHIFT_REVERSE = 6;
	55	public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
	56	public static final int RIGHT_SHIFT_FORWARD = 2;
	57	public static final int RIGHT_SHIFT_REVERSE = 7;
45bdf5b9	58
571a0e2a	59	public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
33141cdd	60
fb75626b	61	public static double kp = 0.013, ki = 0.000015, kd = -0.002;
f8bfcc62	62	public static double encoderTolerance = 8.0;
2a099bc6 KZ	63
	64	// Gearing constants
	65	public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
	66	public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
200caf63	67	}
38a404b3	68
200caf63	69	public static class Shooter {
e1f7a742 HD	70	public static final int CATAPULT1_MODULE = PCM_MODULE_B;
e1f7a742 HD	71	public static final int CATAPULT1_FORWARD = 4;
00cf1e6c	72	public static final int CATAPULT1_REVERSE = 1;
a68e4347	73	public static final int CATAPULT2_MODULE = PCM_MODULE_A;
e1f7a742 HD	74	public static final int CATAPULT2_FORWARD = 0;
e1f7a742 HD	75	public static final int CATAPULT2_REVERSE = 1;
e4fbab02 HD	76
	77	public static final Value shoot = Value.kForward;
	78	public static final Value reset = Value.kReverse;
	79	public static final double WAIT_TIME = 2.0; // In seconds
200caf63	80	}
40348cab	81
200caf63	82	public static class IntakeArm {
e1f7a742	83	public static final int INTAKE_ROLLER_PORT = 8;
5cff8910 ME	84
5cff8910 ME	85	// for pistons
a68e4347	86	public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
e1f7a742 HD	87	public static final int LEFT_INTAKE_FORWARD = 5;
	88	public static final int LEFT_INTAKE_REVERSE = 2;
	89	public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
	90	public static final int RIGHT_INTAKE_FORWARD = 5;
	91	public static final int RIGHT_INTAKE_REVERSE = 0;
5cff8910	92
2781cca0 ME	93	public static final Value EXTEND = DoubleSolenoid.Value.kForward;
	94	public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
	95
e1f7a742 HD	96	public static final int IN = 1;
	97	public static final int OUT = -1;
	98
5cff8910	99	// for roller
200caf63 KZ	100	public static final double INTAKE_SPEED = 0.5;
200caf63 KZ	101	public static final double OUTPUT_SPEED = -0.5;
200caf63	102	}
38a404b3	103	}