- public static final int PORT = 0;
- public static final int PUNCH_FORWARD = 0;
- public static final int PUNCH_REVERSE = 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 final int HOOD_FORWARD = 2;
- public static final int HOOD_REVERSE = 3;
-
- public static final Value open = Value.kReverse;
- public static final Value closed = Value.kForward;
-
- public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
-
- public static enum State {
- RUNNING, STOPPED;
- }
- }
-
- public static class DeadReckoning {
- public static final double DEFAULT_SPEED = 0.5;
- public static boolean isUsingTimeToPassDefense = true;
-
- // dead reckoning time and speed constants for driving through defenses
- public static double passRockWallTime = 0;
- public static double passRockWallSpeed = 0;
- public static double passRockWallDistance = 0;
- public static double passLowBarTime = 0;
- public static double passLowBarSpeed = 0;
- public static double passLowBarDistance = 0;
- public static double passMoatTime = 0;
- public static double passMoatSpeed = 0;
- public static double passMoatDistance = 0;
- public static double passRampartTime = 0;
- public static double passRampartSpeed = 0;
- public static double passRampartDistance = 0;
- public static double passRoughTerrainTime = 0;
- public static double passRoughTerrainSpeed = 0;
- public static double passRoughTerrainDistance = 0;
-
+ 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