+ public static final int CATAPULT1_MODULE = PCM_MODULE_B;
+ public static final int CATAPULT1_FORWARD = 4;
+ public static final int CATAPULT1_REVERSE = 1;
+ public static final int CATAPULT2_MODULE = PCM_MODULE_A;
+ public static final int CATAPULT2_FORWARD = 0;
+ public static final int CATAPULT2_REVERSE = 1;
+
+ public static final Value SHOOT = Value.kForward;
+ public static final Value RESET = Value.kReverse;
+ public static final double WAIT_TIME = 2.0; // In seconds
+ }
+
+ public static class IntakeArm {
+ public static final int INTAKE_ROLLER_PORT = 8;
+
+ // for pistons
+ public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
+ public static final int LEFT_INTAKE_FORWARD = 5;
+ public static final int LEFT_INTAKE_REVERSE = 2;
+ public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
+ public static final int RIGHT_INTAKE_FORWARD = 5;
+ public static final int RIGHT_INTAKE_REVERSE = 0;
+
+ public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+ public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
+
+ public static final int IN = 1;
+ public static final int STOP = 0;
+ public static final int OUT = -1;
+
+ // for roller
+ public static final double INTAKE_SPEED = 0.7;
+ public static final double OUTPUT_SPEED = -0.7;
+ }
+
+ public static class Auton {
+ // 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;