1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
4 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
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.
12 public class Constants
{
13 public final static int PCM_MODULE_A
= 9;
14 public final static int PCM_MODULE_B
= 10;
16 public static class OI
{
18 public final static int LEFT_STICK_PORT
= 0;
19 public final static int RIGHT_STICK_PORT
= 1;
21 public final static int PASS_PORTCULLIS_PORT
= 0;
22 public final static int PASS_CHEVAL_DE_FRISE_PORT
= 0;
23 public final static int PASS_DRAWBRIDGE_PORT
= 0;
24 public final static int PASS_SALLYPORT_PORT
= 0;
26 public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT
= 0;
27 public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT
= 0;
28 public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT
= 0;
29 public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT
= 0;
31 public final static int LEFT_JOYSTICK_TRIGGER_PORT
= 0;
32 public final static int SPIN1_PORT
= 4;
33 public final static int SPIN2_PORT
= 5;
34 public final static int LEFT_JOYSTICK_TOP_CENTER_PORT
= 3;
35 public final static int LEFT_JOYSTICK_TOP_LOW_PORT
= 2;
37 public final static int RIGHT_JOYSTICK_TRIGGER_PORT
= 0;
38 public final static int RIGHT_JOYSTICK_THUMB_PORT
= 2;
40 public final static int TOGGLE_SCALING_PORT
= 0;
44 public static class DriveTrain
{
45 // Drivetrain Motor Related Ports
46 public static final int FRONT_LEFT
= 1;
47 public static final int FRONT_RIGHT
= 6;
48 public static final int REAR_LEFT
= 2;
49 public static final int REAR_RIGHT
= 5;
51 // Encoder related ports
52 public final static int ENCODER_LEFT_A
= 0;
53 public final static int ENCODER_LEFT_B
= 1;
54 public final static int ENCODER_RIGHT_A
= 9;
55 public final static int ENCODER_RIGHT_B
= 8;
57 public static final double INCHES_PER_PULSE
= ((3.66 / 5.14) * 6 * Math
.PI
) / 256;
59 public static double kp
= 0.013, ki
= 0.000015, kd
= -0.002;
60 public static double gp
= 0.018, gi
= 0.000015, gd
= 0;
61 public static double encoderTolerance
= 8.0, gyroTolerance
= 5.0;
63 public static final int MANUAL_MODE
= 1, ENCODER_MODE
= 2, GYRO_MODE
= 3;
64 public static final int LEFT_FORWARD
= 6, LEFT_REVERSE
= 5,
65 RIGHT_FORWARD
= 0, RIGHT_REVERSE
= 1;
66 public static double time
= 0;
69 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
70 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
72 public static boolean inverted
= false;
74 public static final double PASS_DEFENSE_TIMEOUT
= 10; // find this
77 public static class Scaler
{
79 public final static int FORWARD_CHANNEL
= 6;
80 public final static int REVERSE_CHANNEL
= 0;
83 public final static int WINCH_MOTOR
= 0;
86 public final static double WINCH_STOP_SPEED
= 0.0;
87 public final static double SCALE_SPEED
= 0;
88 public final static double SECONDS_TO_CLAMP
= 2.0;
91 public final static int SECONDS_TO_SCALE
= 0;
93 public static boolean SCALING
= false;
97 public static class Shooter
{
98 public static final int CATAPULT1_MODULE
= PCM_MODULE_A
;
99 public static final int CATAPULT1_FORWARD
= 0;
100 public static final int CATAPULT1_REVERSE
= 1;
101 public static final int CATAPULT2_MODULE
= PCM_MODULE_B
;
102 public static final int CATAPULT2_FORWARD
= 2;
103 public static final int CATAPULT2_REVERSE
= 3;// TODO Determine actual
106 public static final Value shoot
= Value
.kForward
;
107 public static final Value reset
= Value
.kReverse
;
108 public static final double WAIT_TIME
= 2.0; // In seconds
111 public static class IntakeArm
{
112 public static final int ROLLER_PORT
= 0;
113 public static final int ARM_PORT
= 1;
114 public static final int POT_CHANNEL
= 0;
115 public static final double INTAKE_SPEED
= 0.5;
116 public static final double OUTPUT_SPEED
= -0.5;
117 public final static double FULL_RANGE
= 270.0; // in degrees
118 public final static double OFFSET
= -135.0; // in degrees
119 public static final double ZERO_ANGLE
= 0;
120 public static final double DEFAULT_INTAKE_ARM_SPEED
= 0.3;
123 public static class DefenseArm
{
124 // Potentiometer related ports
125 public static final int ARM_CHANNEL
= 0;
126 public static final int ARM_PORT
= 0;
127 public static final int HAND_PORT
= 1;
128 public static final int HAND_CHANNEL
= 1;
129 public final static double FULL_RANGE
= 270.0; // in degrees
130 public final static double OFFSET
= -135.0; // in degrees
132 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
134 public final static double ARM_LENGTH
= 0; // TODO: find actual length
135 public final static double HAND_LENGTH
= 0; // TODO: find actual length
136 public final static double ARM_MOUNTED_HEIGHT
= 0; // TODO: find actual
140 public static class Auton
{
142 * Distance dead reckoning constants
144 public static final double POS1_DIST1
= 109;
145 public static final double POS1_TURN1
= 60;
146 public static final double POS1_DIST2
= 0;
148 // constants for position 2
149 public static final double POS2_DIST1
= 140;
150 public static final double POS2_TURN1
= 60;
151 public static final double POS2_DIST2
= 0;
153 // constants for position 3
154 public static final double POS3_DIST1
= 0;
155 public static final double POS3_TURN1
= 90;
156 public static final double POS3_DIST2
= 35.5;
157 public static final double POS3_TURN2
= -90;
158 public static final double POS3_DIST3
= 0;
160 // constants for position 4
161 public static final double POS4_DIST1
= 0;
162 public static final double POS4_TURN1
= -90;
163 public static final double POS4_DIST2
= 18.5;
164 public static final double POS4_TURN2
= 90;
165 public static final double POS4_DIST3
= 0;
167 // constants for position 5
168 public static final double POS5_DIST1
= 0;
169 public static final double POS5_TURN1
= -90;
170 public static final double POS5_DIST2
= 72.5;
171 public static final double POS5_TURN2
= 90;
172 public static final double POS5_DIST3
= 0;
173 public static final double DRIVE_MAX_TIMEOUT
= 3.0;
174 public static final double TURN_MAX_TIMEOUT
= 5.0;
177 * Time dead Reckoning constants
179 public static final double POS1_DIST1_TIME
= 109;
180 public static final double POS1_DRIVE_MAXSPEED
= 0.5;
181 public static final double POS1_TURN1_TIME
= 60;
182 public static final double POS1_TURN_MAXSPEED
= 0.5;
183 public static final double POS1_DIST2_TIME
= 0;
185 // constants for position 2
187 public static final double POS2_DIST1_TIME
= 109;
188 public static final double POS2_DRIVE_MAXSPEED
= 0.5;
189 public static final double POS2_TURN1_TIME
= 60;
190 public static final double POS2_TURN_MAXSPEED
= 0.5;
191 public static final double POS2_DIST2_TIME
= 0;
193 // constants for position 3
195 public static final double POS3_DIST1_TIME
= 109;
196 public static final double POS3_DRIVE_MAXSPEED
= 0.5;
197 public static final double POS3_TURN1_TIME
= 60;
198 public static final double POS3_TURN_MAXSPEED
= 0.5;
199 public static final double POS3_DIST2_TIME
= 0;
200 // constants for position 4
202 public static final double POS4_DIST1_TIME
= 109;
203 public static final double POS4_DRIVE_MAXSPEED
= 0.5;
204 public static final double POS4_TURN1_TIME
= 60;
205 public static final double POS4_TURN_MAXSPEED
= 0.5;
206 public static final double POS4_DIST2_TIME
= 0;
207 // constants for position 5
209 public static final double POS5_DIST1_TIME
= 109;
210 public static final double POS5_DRIVE_MAXSPEED
= 0.5;
211 public static final double POS5_TURN1_TIME
= 60;
212 public static final double POS5_TURN_MAXSPEED
= 0.5;
213 public static final double POS5_DIST2_TIME
= 0;
215 // Passing Defenses Constants
217 public static final double DEFAULT_SPEED
= 0.5;
218 public static final boolean IS_USING_TIME
= true;
220 // dead reckoning time and speed constants for driving through defenses
221 // TODO: find the times it takes to pass each defense
222 public static final double PASS_ROCK_WALL_TIME
= 0;
223 public static final double PASS_ROCK_WALL_SPEED
= 0;
224 public static final double PASS_ROCK_WALL_DIST
= 0;
225 public static final double PASS_LOW_BAR_TIME
= 0;
226 public static final double PASS_LOW_BAR_SPEED
= 0;
227 public static final double PASS_LOW_BAR_DIST
= 0;
228 public static final double PASS_MOAT_TIME
= 0;
229 public static final double PASS_MOAT_SPEED
= 0;
230 public static final double PASS_MOAT_DIST
= 0;
231 public static final double PASS_RAMPART_TIME
= 0;
232 public static final double PASS_RAMPART_SPEED
= 0;
233 public static final double PASS_RAMPART_DIST
= 0;
234 public static final double PASS_ROUGH_TERRAIN_TIME
= 0;
235 public static final double PASS_ROUGH_TERRAIN_SPEED
= 0;
236 public static final double PASS_ROUGH_TERRAIN_DIST
= 0;
239 public enum Direction
{
240 UP
, DOWN
, RIGHT
, LEFT
, FORWARD
, BACKWARD
;
243 public enum Defense
{
244 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;