+
+ // Encoder related ports
+ public final static int ENCODER_LEFT_A = 3;
+ public final static int ENCODER_LEFT_B = 4;
+ public final static int ENCODER_RIGHT_A = 2;
+ public final static int ENCODER_RIGHT_B = 1;
+ }
+
+ public static class Scaler {
+ // Piston channels
+ public final static int FORWARD_CHANNEL = 0;
+ public final static int REVERSE_CHANNEL = 0;
+
+ // Winch port
+ public final static int WINCH_MOTOR = 0;
+ }
+
+ public static class Shooter {
+ public static final int PORT = 0;
+ public static final int PUNCH_FORWARD_PORT = 0;
+ public static final int PUNCH_REVERSE_PORT = 1;
+ public static final int ANGLE_ADJUSTER_PORT = 0;
+
+ public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
+ public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
+
+ // Encoder port
+ public static final int ENCODER_PORT_A = 0;
+ public static final int ENCODER_PORT_B = 0;
+
+ public static enum State {
+ RUNNING, STOPPED;
+ }
+ }
+
+ public static class IntakeArm {
+ public static final int ROLLER_PORT = 0;
+ public static final int INTAKE_PORT = 1;
+ public static final int INTAKE_CHANNEL = 0;
+ public static final double INTAKE_SPEED = 0.5;
+ public static final double OUTPUT_SPEED = -0.5;
+ public final static double FULL_RANGE = 270.0; // in degrees
+ public final static double OFFSET = -135.0; // in degrees
+ }
+
+ public static class DefenseArm {
+ // Potentiometer related ports
+ public static final int ARM_CHANNEL = 0;
+ public static final int ARM_PORT = 0;
+ public static final int HAND_PORT = 1;
+ public static final int HAND_CHANNEL = 1;
+ public final static double FULL_RANGE = 270.0; // in degrees
+ public final static double OFFSET = -135.0; // in degrees
+ public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level