- public static enum Direction {
- LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+ public static class IntakeArm {
+ public static final int ROLLER_PORT = 0;
+ public static final int ARM_PORT = 1;
+ public static final int POT_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 final double ZERO_ANGLE = 0;
+ }
+
+ 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
+ public final static double ARM_LENGTH = 0; // TODO: find actual length
+ public final static double HAND_LENGTH = 0; // TODO: find actual length
+ public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
+ // height
+ }
+
+ public enum Defense {
+ PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;