- /*
- * 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;
+ // Defense crossing speeds from -1 to 1
+ public static final double DEFAULT_SPEED = 0.3;
+ public static final double MOAT_SPEED = 0.6;
+ public static final double ROCK_WALL_SPEED = 0.8;
+ public static final double ROUGH_TERRAIN_SPEED = 0.7;
+ public static final double RAMPART_SPEED = 0.4;
+ public static final double LOW_BAR_SPEED = 0.5;
+
+ // Defense crossing times in seconds
+ public static final double DEFAULT_TIME = 10.0;
+ public static final double MOAT_TIME = 7.0;
+ public static final double ROCK_WALL_TIME = 8.0;
+ public static final double ROUGH_TERRAIN_TIME = 6.0;
+ public static final double RAMPART_TIME = 10.0;
+ public static final double LOW_BAR_TIME = 6.0;
+
+ // Time to wait before shooting in seconds
+ public static final double WAIT_TIME = 1.0;