1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
6 * The Constants stores constant values for all subsystems. This includes the
7 * port values for motors and sensors, as well as important operational
8 * constants for subsystems such as max and min values.
11 public class Constants
{
12 public static class OI
{
14 public final static int LEFT_STICK_PORT
= 0;
15 public final static int RIGHT_STICK_PORT
= 1;
16 // Ports on the Joystick
17 public final static int TRIGGER_PORT
= 1;
18 public final static int DECREMENT_SHOOTER_SPEED_PORT
= 2;
19 public final static int INCREMENT_SHOOTER_SPEED_PORT
= 3;
20 public final static int SHOOT_PORT
= 4;
21 public final static int LOG_PORT
= 5;
24 public static class DriveTrain
{
25 // Drivetrain Motor Related Ports
26 public static final int FRONT_LEFT
= 0;
27 public static final int FRONT_RIGHT
= 0;
28 public static final int REAR_LEFT
= 0;
29 public static final int REAR_RIGHT
= 0;
31 // Encoder related ports
32 public final static int ENCODER_LEFT_A
= 3;
33 public final static int ENCODER_LEFT_B
= 4;
34 public final static int ENCODER_RIGHT_A
= 2;
35 public final static int ENCODER_RIGHT_B
= 1;
37 private final static double WHEEL_DIAMETER
= 6.0; // in inches
38 private final static double PULSES_PER_ROTATION
= 256; // in pulses
39 private final static double OUTPUT_SPROCKET_DIAMETER
= 2.0; // in inches
40 private final static double WHEEL_SPROCKET_DIAMETER
= 3.5; // in inches
41 public final static double INCHES_PER_PULSE
= (((Math
.PI
)
42 * OUTPUT_SPROCKET_DIAMETER
/ PULSES_PER_ROTATION
)
43 / WHEEL_SPROCKET_DIAMETER
) * WHEEL_DIAMETER
;
46 public static class Scaler
{
48 public final static int FORWARD_CHANNEL
= 0;
49 public final static int REVERSE_CHANNEL
= 0;
52 public final static int WINCH_MOTOR
= 0;
56 public static class Shooter
{
57 public static final int PORT
= 0;
58 public static final int PUNCH_FORWARD_PORT
= 0;
59 public static final int PUNCH_REVERSE_PORT
= 1;
60 public static final int ANGLE_ADJUSTER_PORT
= 0;
62 public static final DoubleSolenoid
.Value punch
= DoubleSolenoid
.Value
.kForward
;
63 public static final DoubleSolenoid
.Value retract
= DoubleSolenoid
.Value
.kReverse
;
66 public static final int ENCODER_PORT_A
= 0;
67 public static final int ENCODER_PORT_B
= 0;
69 public static enum State
{
74 public static class IntakeArm
{
75 public static final int ROLLER_PORT
= 0;
76 public static final int ARM_PORT
= 1;
77 public static final int POT_CHANNEL
= 0;
78 public static final double INTAKE_SPEED
= 0.5;
79 public static final double OUTPUT_SPEED
= -0.5;
80 public final static double FULL_RANGE
= 270.0; // in degrees
81 public final static double OFFSET
= -135.0; // in degrees
82 public static final double ZERO_ANGLE
= 0;
85 public static class DefenseArm
{
86 // Potentiometer related ports
87 public static final int ARM_CHANNEL
= 0;
88 public static final int ARM_PORT
= 0;
89 public static final int HAND_PORT
= 1;
90 public static final int HAND_CHANNEL
= 1;
91 public final static double FULL_RANGE
= 270.0; // in degrees
92 public final static double OFFSET
= -135.0; // in degrees
93 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
95 public final static double ARM_LENGTH
= 0; // TODO: find actual length
96 public final static double HAND_LENGTH
= 0; // TODO: find actual length
97 public final static double ARM_MOUNTED_HEIGHT
= 0; // TODO: find actual
101 public enum Defense
{
102 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;