+ public static class Auton {
+ /*
+ * Distance dead reckoning constants
+ */
+ public static final double POS1_DIST1 = 109;
+ public static final double POS1_TURN1 = 60;
+ public static final double POS1_DIST2 = 0;
+
+ // constants for position 2
+ public static final double POS2_DIST1 = 140;
+ public static final double POS2_TURN1 = 60;
+ public static final double POS2_DIST2 = 0;
+
+ // constants for position 3
+ public static final double POS3_DIST1 = 0;
+ public static final double POS3_TURN1 = 90;
+ public static final double POS3_DIST2 = 35.5;
+ public static final double POS3_TURN2 = -90;
+ public static final double POS3_DIST3 = 0;
+
+ // constants for position 4
+ public static final double POS4_DIST1 = 0;
+ public static final double POS4_TURN1 = -90;
+ public static final double POS4_DIST2 = 18.5;
+ public static final double POS4_TURN2 = 90;
+ public static final double POS4_DIST3 = 0;
+
+ // constants for position 5
+ public static final double POS5_DIST1 = 0;
+ public static final double POS5_TURN1 = -90;
+ public static final double POS5_DIST2 = 72.5;
+ public static final double POS5_TURN2 = 90;
+ public static final double POS5_DIST3 = 0;
+ public static final double DRIVE_MAX_TIMEOUT = 3.0;
+ public static final double TURN_MAX_TIMEOUT = 5.0;
+
+ /*
+ * Time dead Reckoning constants
+ */
+ public static final double POS1_DIST1_TIME = 109;
+ public static final double POS1_DRIVE_MAXSPEED = 0.5;
+ public static final double POS1_TURN1_TIME = 60;
+ public static final double POS1_TURN_MAXSPEED = 0.5;
+ public static final double POS1_DIST2_TIME = 0;
+
+ // constants for position 2
+
+ public static final double POS2_DIST1_TIME = 109;
+ public static final double POS2_DRIVE_MAXSPEED = 0.5;
+ public static final double POS2_TURN1_TIME = 60;
+ public static final double POS2_TURN_MAXSPEED = 0.5;
+ public static final double POS2_DIST2_TIME = 0;
+
+ // constants for position 3
+
+ public static final double POS3_DIST1_TIME = 109;
+ public static final double POS3_DRIVE_MAXSPEED = 0.5;
+ public static final double POS3_TURN1_TIME = 60;
+ public static final double POS3_TURN_MAXSPEED = 0.5;
+ public static final double POS3_DIST2_TIME = 0;
+ // constants for position 4
+
+ public static final double POS4_DIST1_TIME = 109;
+ public static final double POS4_DRIVE_MAXSPEED = 0.5;
+ public static final double POS4_TURN1_TIME = 60;
+ public static final double POS4_TURN_MAXSPEED = 0.5;
+ public static final double POS4_DIST2_TIME = 0;
+ // constants for position 5
+
+ public static final double POS5_DIST1_TIME = 109;
+ public static final double POS5_DRIVE_MAXSPEED = 0.5;
+ public static final double POS5_TURN1_TIME = 60;
+ public static final double POS5_TURN_MAXSPEED = 0.5;
+ public static final double POS5_DIST2_TIME = 0;
+
+ // Passing Defenses Constants
+
+ public static final double DEFAULT_SPEED = 0.5;
+ public static final boolean IS_USING_TIME = true;
+
+ // dead reckoning time and speed constants for driving through defenses
+ // TODO: find the times it takes to pass each defense
+ public static final double PASS_ROCK_WALL_TIME = 0;
+ public static final double PASS_ROCK_WALL_SPEED = 0;
+ public static final double PASS_ROCK_WALL_DIST = 0;
+ public static final double PASS_LOW_BAR_TIME = 0;
+ public static final double PASS_LOW_BAR_SPEED = 0;
+ public static final double PASS_LOW_BAR_DIST = 0;
+ public static final double PASS_MOAT_TIME = 0;
+ public static final double PASS_MOAT_SPEED = 0;
+ public static final double PASS_MOAT_DIST = 0;
+ public static final double PASS_RAMPART_TIME = 0;
+ public static final double PASS_RAMPART_SPEED = 0;
+ public static final double PASS_RAMPART_DIST = 0;
+ public static final double PASS_ROUGH_TERRAIN_TIME = 0;
+ public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
+ public static final double PASS_ROUGH_TERRAIN_DIST = 0;
+ }
+
+ public enum Direction {
+ UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
+ }
+