challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/Constants.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import java.util.ArrayList;
   4
   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;
   9
  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 {
  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;
  21
  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;
  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;
  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;
  37
  38     public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
  39     public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
  40
  41     public final static int TOGGLE_SCALING_PORT = 0;
  42
  43   }
  44
  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;
  51
  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;
  57
  58     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
  59         / 256;
  60
  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
  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;
  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
  74     public static boolean inverted = false;
  75
  76     public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  77   }
  78
  79   public static class Scaler {
  80     // Piston channels
  81     public final static int FORWARD_CHANNEL = 6;
  82     public final static int REVERSE_CHANNEL = 0;
  83
  84     // Winch port
  85     public final static int WINCH_MOTOR = 0;
  86
  87     // Winch speeds
  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;
  91
  92     // Winch timeout
  93     public final static int SECONDS_TO_SCALE = 0;
  94
  95     public static boolean SCALING = false;
  96
  97   }
  98
  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;
 104
 105     public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
 106     public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
 107
 108     // Encoder port
 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;
 115
 116     public static final double DEFAULT_SHOOTER_SPEED = 0.5;
 117
 118     public static final Value open = Value.kReverse;
 119     public static final Value closed = Value.kForward;
 120
 121     public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
 122
 123     public static ArrayList<Double> speeds = new ArrayList<Double>();
 124     public static ArrayList<Double> distances = new ArrayList<Double>();
 125
 126     public static enum State {
 127       RUNNING, STOPPED;
 128     }
 129
 130     public static double TESTING_SHOOTER_SPEED = 0.5;
 131   }
 132
 133   public static class IntakeArm {
 134     public static final int ROLLER_PORT = 0;
 135     public static final int ARM_PORT = 1;
 136     public static final int POT_CHANNEL = 0;
 137     public static final double INTAKE_SPEED = 0.5;
 138     public static final double OUTPUT_SPEED = -0.5;
 139     public final static double FULL_RANGE = 270.0; // in degrees
 140     public final static double OFFSET = -135.0; // in degrees
 141     public static final double ZERO_ANGLE = 0;
 142     public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
 143   }
 144
 145   public static class DefenseArm {
 146     // Potentiometer related ports
 147     public static final int ARM_CHANNEL = 0;
 148     public static final int ARM_PORT = 0;
 149     public static final int HAND_PORT = 1;
 150     public static final int HAND_CHANNEL = 1;
 151     public final static double FULL_RANGE = 270.0; // in degrees
 152     public final static double OFFSET = -135.0; // in degrees
 153
 154     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 155     // level
 156     public final static double ARM_LENGTH = 0; // TODO: find actual length
 157     public final static double HAND_LENGTH = 0; // TODO: find actual length
 158     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 159     // height
 160   }
 161
 162   public static class Auton {
 163     /*
 164      * Distance dead reckoning constants
 165      */
 166     public static final double POS1_DIST1 = 109;
 167     public static final double POS1_TURN1 = 60;
 168     public static final double POS1_DIST2 = 0;
 169
 170     // constants for position 2
 171     public static final double POS2_DIST1 = 140;
 172     public static final double POS2_TURN1 = 60;
 173     public static final double POS2_DIST2 = 0;
 174
 175     // constants for position 3
 176     public static final double POS3_DIST1 = 0;
 177     public static final double POS3_TURN1 = 90;
 178     public static final double POS3_DIST2 = 35.5;
 179     public static final double POS3_TURN2 = -90;
 180     public static final double POS3_DIST3 = 0;
 181
 182     // constants for position 4
 183     public static final double POS4_DIST1 = 0;
 184     public static final double POS4_TURN1 = -90;
 185     public static final double POS4_DIST2 = 18.5;
 186     public static final double POS4_TURN2 = 90;
 187     public static final double POS4_DIST3 = 0;
 188
 189     // constants for position 5
 190     public static final double POS5_DIST1 = 0;
 191     public static final double POS5_TURN1 = -90;
 192     public static final double POS5_DIST2 = 72.5;
 193     public static final double POS5_TURN2 = 90;
 194     public static final double POS5_DIST3 = 0;
 195     public static final double DRIVE_MAX_TIMEOUT = 3.0;
 196     public static final double TURN_MAX_TIMEOUT = 5.0;
 197
 198     /*
 199      * Time dead Reckoning constants
 200      */
 201     public static final double POS1_DIST1_TIME = 109;
 202     public static final double POS1_DRIVE_MAXSPEED = 0.5;
 203     public static final double POS1_TURN1_TIME = 60;
 204     public static final double POS1_TURN_MAXSPEED = 0.5;
 205     public static final double POS1_DIST2_TIME = 0;
 206
 207     // constants for position 2
 208
 209     public static final double POS2_DIST1_TIME = 109;
 210     public static final double POS2_DRIVE_MAXSPEED = 0.5;
 211     public static final double POS2_TURN1_TIME = 60;
 212     public static final double POS2_TURN_MAXSPEED = 0.5;
 213     public static final double POS2_DIST2_TIME = 0;
 214
 215     // constants for position 3
 216
 217     public static final double POS3_DIST1_TIME = 109;
 218     public static final double POS3_DRIVE_MAXSPEED = 0.5;
 219     public static final double POS3_TURN1_TIME = 60;
 220     public static final double POS3_TURN_MAXSPEED = 0.5;
 221     public static final double POS3_DIST2_TIME = 0;
 222     // constants for position 4
 223
 224     public static final double POS4_DIST1_TIME = 109;
 225     public static final double POS4_DRIVE_MAXSPEED = 0.5;
 226     public static final double POS4_TURN1_TIME = 60;
 227     public static final double POS4_TURN_MAXSPEED = 0.5;
 228     public static final double POS4_DIST2_TIME = 0;
 229     // constants for position 5
 230
 231     public static final double POS5_DIST1_TIME = 109;
 232     public static final double POS5_DRIVE_MAXSPEED = 0.5;
 233     public static final double POS5_TURN1_TIME = 60;
 234     public static final double POS5_TURN_MAXSPEED = 0.5;
 235     public static final double POS5_DIST2_TIME = 0;
 236
 237     // Passing Defenses Constants
 238
 239     public static final double DEFAULT_SPEED = 0.5;
 240     public static final boolean IS_USING_TIME = true;
 241
 242     // dead reckoning time and speed constants for driving through defenses
 243     // TODO: find the times it takes to pass each defense
 244     public static final double PASS_ROCK_WALL_TIME = 0;
 245     public static final double PASS_ROCK_WALL_SPEED = 0;
 246     public static final double PASS_ROCK_WALL_DIST = 0;
 247     public static final double PASS_LOW_BAR_TIME = 0;
 248     public static final double PASS_LOW_BAR_SPEED = 0;
 249     public static final double PASS_LOW_BAR_DIST = 0;
 250     public static final double PASS_MOAT_TIME = 0;
 251     public static final double PASS_MOAT_SPEED = 0;
 252     public static final double PASS_MOAT_DIST = 0;
 253     public static final double PASS_RAMPART_TIME = 0;
 254     public static final double PASS_RAMPART_SPEED = 0;
 255     public static final double PASS_RAMPART_DIST = 0;
 256     public static final double PASS_ROUGH_TERRAIN_TIME = 0;
 257     public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
 258     public static final double PASS_ROUGH_TERRAIN_DIST = 0;
 259   }
 260
 261   public enum Direction {
 262     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
 263   }
 264
 265   public enum Defense {
 266     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 267   }
 268 }