1 package org
.usfirst
.frc
.team3501
.robot
;
3 import java
.util
.ArrayList
;
5 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
6 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
7 import edu
.wpi
.first
.wpilibj
.I2C
;
8 import edu
.wpi
.first
.wpilibj
.I2C
.Port
;
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.
16 public class Constants
{
17 public static class OI
{
19 public final static int LEFT_STICK_PORT
= 0;
20 public final static int RIGHT_STICK_PORT
= 1;
22 public final static int PASS_PORTCULLIS_PORT
= 0;
23 public final static int PASS_CHEVAL_DE_FRISE_PORT
= 0;
24 public final static int PASS_DRAWBRIDGE_PORT
= 0;
25 public final static int PASS_SALLYPORT_PORT
= 0;
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;
32 public final static int LEFT_JOYSTICK_TRIGGER_PORT
= 0;
33 public final static int SPIN1_PORT
= 4;
34 public final static int SPIN2_PORT
= 5;
35 public final static int LEFT_JOYSTICK_TOP_CENTER_PORT
= 3;
36 public final static int LEFT_JOYSTICK_TOP_LOW_PORT
= 2;
38 public final static int RIGHT_JOYSTICK_TRIGGER_PORT
= 0;
39 public final static int RIGHT_JOYSTICK_THUMB_PORT
= 2;
41 public final static int TOGGLE_SCALING_PORT
= 0;
45 public static class DriveTrain
{
46 // Drivetrain Motor Related Ports
47 public static final int FRONT_LEFT
= 1;
48 public static final int FRONT_RIGHT
= 6;
49 public static final int REAR_LEFT
= 2;
50 public static final int REAR_RIGHT
= 5;
52 // Encoder related ports
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;
58 public static final double INCHES_PER_PULSE
= ((3.66 / 5.14) * 6 * Math
.PI
)
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;
65 public static final int MANUAL_MODE
= 1, ENCODER_MODE
= 2, GYRO_MODE
= 3;
66 public static final int LEFT_FORWARD
= 6, LEFT_REVERSE
= 5,
67 RIGHT_FORWARD
= 0, RIGHT_REVERSE
= 1;
68 public static double time
= 0;
71 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
72 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
74 public static boolean inverted
= false;
76 public static final double PASS_DEFENSE_TIMEOUT
= 10; // find this
79 public static class Scaler
{
81 public final static int FORWARD_CHANNEL
= 6;
82 public final static int REVERSE_CHANNEL
= 0;
85 public final static int WINCH_MOTOR
= 0;
88 public final static double WINCH_STOP_SPEED
= 0.0;
89 public final static double SCALE_SPEED
= 0;
90 public final static double SECONDS_TO_CLAMP
= 2.0;
93 public final static int SECONDS_TO_SCALE
= 0;
95 public static boolean SCALING
= false;
99 public static class Shooter
{
100 public static final int PORT
= 0;
101 public static final int PUNCH_FORWARD
= 5;
102 public static final int PUNCH_REVERSE
= 1;
103 public static final int ANGLE_ADJUSTER_PORT
= 0;
105 public static final DoubleSolenoid
.Value punch
= DoubleSolenoid
.Value
.kForward
;
106 public static final DoubleSolenoid
.Value retract
= DoubleSolenoid
.Value
.kReverse
;
109 public static final int ENCODER_PORT_A
= 0;
110 public static final int ENCODER_PORT_B
= 0;
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;
116 public static final double DEFAULT_SHOOTER_SPEED
= 0.5;
118 public static final Value open
= Value
.kReverse
;
119 public static final Value closed
= Value
.kForward
;
121 public static final Port LIDAR_I2C_PORT
= I2C
.Port
.kMXP
;
123 public static ArrayList
<Double
> speeds
= new ArrayList
<Double
>();
124 public static ArrayList
<Double
> distances
= new ArrayList
<Double
>();
126 public static enum State
{
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;
140 public static final double DEFAULT_INTAKE_ARM_SPEED
= 0.3;
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
152 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
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
160 public static class Auton
{
162 * Distance dead reckoning constants
164 public static final double POS1_DIST1
= 109;
165 public static final double POS1_TURN1
= 60;
166 public static final double POS1_DIST2
= 0;
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;
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;
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;
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;
197 * Time dead Reckoning constants
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;
205 // constants for position 2
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;
213 // constants for position 3
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
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
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;
235 // Passing Defenses Constants
237 public static final double DEFAULT_SPEED
= 0.5;
238 public static final boolean IS_USING_TIME
= true;
240 // dead reckoning time and speed constants for driving through defenses
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;
259 public enum Direction
{
260 UP
, DOWN
, RIGHT
, LEFT
, FORWARD
, BACKWARD
;
263 public enum Defense
{
264 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;