1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
4 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
5 import edu
.wpi
.first
.wpilibj
.I2C
;
6 import edu
.wpi
.first
.wpilibj
.I2C
.Port
;
9 * The Constants stores constant values for all subsystems. This includes the
10 * port values for motors and sensors, as well as important operational
11 * constants for subsystems such as max and min values.
14 public class Constants
{
15 public static class OI
{
17 public final static int LEFT_STICK_PORT
= 0;
18 public final static int RIGHT_STICK_PORT
= 1;
20 public final static int PASS_PORTCULLIS_PORT
= 0;
21 public final static int PASS_CHEVAL_DE_FRISE_PORT
= 0;
22 public final static int PASS_DRAWBRIDGE_PORT
= 0;
23 public final static int PASS_SALLYPORT_PORT
= 0;
25 public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT
= 0;
26 public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT
= 0;
27 public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT
= 0;
28 public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT
= 0;
30 public final static int LEFT_JOYSTICK_TRIGGER_PORT
= 0;
31 public final static int SPIN1_PORT
= 4;
32 public final static int SPIN2_PORT
= 5;
33 public final static int LEFT_JOYSTICK_TOP_CENTER_PORT
= 3;
34 public final static int LEFT_JOYSTICK_TOP_LOW_PORT
= 2;
36 public final static int RIGHT_JOYSTICK_TRIGGER_PORT
= 0;
37 public final static int RIGHT_JOYSTICK_THUMB_PORT
= 2;
39 public final static int TOGGLE_SCALING_PORT
= 0;
43 public static class DriveTrain
{
44 // Drivetrain Motor Related Ports
45 public static final int FRONT_LEFT
= 1;
46 public static final int FRONT_RIGHT
= 4;
47 public static final int REAR_LEFT
= 2;
48 public static final int REAR_RIGHT
= 3;
50 // Encoder related ports
51 public final static int ENCODER_LEFT_A
= 0;
52 public final static int ENCODER_LEFT_B
= 1;
53 public final static int ENCODER_RIGHT_A
= 9;
54 public final static int ENCODER_RIGHT_B
= 8;
56 public final static int FORWARD_CHANNEL
= 0;
57 public final static int REVERSE_CHANNEL
= 0;
59 private final static double WHEEL_DIAMETER
= 6.0; // in inches
60 private final static double PULSES_PER_ROTATION
= 256; // in pulses
61 private final static double OUTPUT_SPROCKET_DIAMETER
= 2.0; // in inches
62 private final static double WHEEL_SPROCKET_DIAMETER
= 3.5; // in inches
63 public static final double INCHES_PER_PULSE
= ((3.66 / 5.14) * 6 * Math
.PI
)
66 public static final int MANUAL_MODE
= 1, ENCODER_MODE
= 2, GYRO_MODE
= 3;
67 public static final int LEFT_FORWARD
= 0, LEFT_REVERSE
= 1,
68 RIGHT_FORWARD
= 2, RIGHT_REVERSE
= 3;
69 public static double time
= 0;
72 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
73 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
75 public static boolean inverted
= false;
77 public static final double PASS_DEFENSE_TIMEOUT
= 10; // find this
80 public static class Scaler
{
82 public final static int FORWARD_CHANNEL
= 0;
83 public final static int REVERSE_CHANNEL
= 1;
86 public final static int WINCH_MOTOR
= 0;
89 public final static double WINCH_STOP_SPEED
= 0.0;
90 public final static double SCALE_SPEED
= 0;
91 public final static double SECONDS_TO_CLAMP
= 2.0;
94 public final static int SECONDS_TO_SCALE
= 0;
96 public static boolean SCALING
= false;
100 public static class Shooter
{
101 public static final int PORT
= 0;
102 public static final int PUNCH_FORWARD
= 0;
103 public static final int PUNCH_REVERSE
= 1;
104 public static final int ANGLE_ADJUSTER_PORT
= 0;
106 public static final DoubleSolenoid
.Value punch
= DoubleSolenoid
.Value
.kForward
;
107 public static final DoubleSolenoid
.Value retract
= DoubleSolenoid
.Value
.kReverse
;
110 public static final int ENCODER_PORT_A
= 0;
111 public static final int ENCODER_PORT_B
= 0;
112 public static final int HOOD_FORWARD
= 2;
113 public static final int HOOD_REVERSE
= 3;
115 public static final Value open
= Value
.kForward
;
116 public static final Value closed
= Value
.kReverse
;
118 public static final Port LIDAR_I2C_PORT
= I2C
.Port
.kMXP
;
120 public static enum State
{
125 public static class DeadReckoning
{
126 public static final double DEFAULT_SPEED
= 0.5;
127 public static boolean isUsingTimeToPassDefense
= true;
129 // dead reckoning time and speed constants for driving through defenses
130 public static double passRockWallTime
= 0;
131 public static double passRockWallSpeed
= 0;
132 public static double passRockWallDistance
= 0;
133 public static double passLowBarTime
= 0;
134 public static double passLowBarSpeed
= 0;
135 public static double passLowBarDistance
= 0;
136 public static double passMoatTime
= 0;
137 public static double passMoatSpeed
= 0;
138 public static double passMoatDistance
= 0;
139 public static double passRampartTime
= 0;
140 public static double passRampartSpeed
= 0;
141 public static double passRampartDistance
= 0;
142 public static double passRoughTerrainTime
= 0;
143 public static double passRoughTerrainSpeed
= 0;
144 public static double passRoughTerrainDistance
= 0;
148 public static class IntakeArm
{
149 public static final int ROLLER_PORT
= 0;
150 public static final int ARM_PORT
= 1;
151 public static final int POT_CHANNEL
= 0;
152 public static final double INTAKE_SPEED
= 0.5;
153 public static final double OUTPUT_SPEED
= -0.5;
154 public final static double FULL_RANGE
= 270.0; // in degrees
155 public final static double OFFSET
= -135.0; // in degrees
156 public static final double ZERO_ANGLE
= 0;
159 public static class DefenseArm
{
160 // Potentiometer related ports
161 public static final int ARM_CHANNEL
= 0;
162 public static final int ARM_PORT
= 0;
163 public static final int HAND_PORT
= 1;
164 public static final int HAND_CHANNEL
= 1;
165 public final static double FULL_RANGE
= 270.0; // in degrees
166 public final static double OFFSET
= -135.0; // in degrees
168 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
170 public final static double ARM_LENGTH
= 0; // TODO: find actual length
171 public final static double HAND_LENGTH
= 0; // TODO: find actual length
172 public final static double ARM_MOUNTED_HEIGHT
= 0; // TODO: find actual
176 public enum Direction
{
177 UP
, DOWN
, RIGHT
, LEFT
, FORWARD
, BACKWARD
;
180 public enum Defense
{
181 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;