package org.usfirst.frc.team3501.robot;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.SPI;
+
/**
* The Constants stores constant values for all subsystems. This includes the
* port values for motors and sensors, as well as important operational
* constants for subsystems such as max and min values.
*/
+// have two buttons: one for shifting to high gear and the other for shifting to
+// low gear
+
public class Constants {
public static class OI {
- public final static int LEFT_STICK_PORT = 0;
- public final static int RIGHT_STICK_PORT = 1;
- public final static int TOGGLE_WINCH_PORT = 0;
- public final static int TOGGLE_FLYWHEEL_PORT = 0;
- public final static int TOGGLE_INDEXWHEEL_PORT = 0;
+ public final static int XBOX_CONTROLLER_PORT = 0;
+ public static final int GAME_PAD_PORT = 2;
+
+ // Xbox Controller Ports
+ public final static int SHIFT_LOW_PORT = 9;
+ public final static int SHIFT_HIGH_PORT = 10;
+ public final static int RUN_INTAKE_PORT = 6;
+ public final static int REVERSE_INTAKE_PORT = 8;
+ public final static int RUN_INDEXWHEEL_PORT = 5;
+ public final static int REVERSE_INDEXWHEEL_PORT = 7;
+ public static final int BRAKE_CANTALONS_PORT = 1;
+ public static final int COAST_CANTALONS_PORT = 3;
+ public static final int CLIMB_PORT = 4;
+ public static final int STOP_CLIMB_PORT = 2;
+
+ // Game Pad Ports
+ public final static int RUN_FLYWHEEL_PORT = 1;
+ public static final int STOP_FLYWHEEL_PORT = 3;
+ public static final int REVERSE_FLYWHEEL_PORT = 4;
+ public static final int INCREASE_SHOOTER_SPEED_PORT = 8;
+ public static final int DECREASE_SHOOTER_SPEED_PORT = 7;
+
+ public static final int RESET_SHOOTER_SPEED_PORT = 2;
+ public static final int SHIFT_GEAR_MANIPULATOR_HIGH_PORT = 6;
+ public static final int SHIFT_GEAR_MANIPULATOR_LOW_PORT = 5;
+
+ // 5 is piston out (gear manipulator)
+ // 6 is piston in (gear manipulator)
+
}
public static class Shooter {
// MOTOR CONTROLLERS
- public static final int FLY_WHEEL = 0;
- public static final int INDEX_WHEEL = 0;
- public final static int TOGGLE_FLYWHEEL_PORT = 0;
- public final static int TOGGLE_INDEXWHEEL_PORT = 0;
+ public static final int FLY_WHEEL1 = 5;
+ public static final int FLY_WHEEL2 = 6;
+ public static final int INDEX_WHEEL = 7;
+ public final static int HALL_EFFECT_PORT = 9;
}
public static class DriveTrain {
+ public static final int PISTON_MODULE = 10;
+ public static final int GEAR_MANIPULATOR_PISTON_FORWARD = 4,
+ GEAR_MANIPULATOR_PISTON_REVERSE = 5;
+
+ public static final int DRIVETRAIN_GEAR_FORWARD = 0,
+ DRIVETRAIN_GEAR_REVERSE = 1;
+
+ public static final Value FORWARD_PISTON_VALUE = DoubleSolenoid.Value.kForward;
+ public static final Value REVERSE_PISTON_VALUE = DoubleSolenoid.Value.kReverse;
+
// MOTOR CONTROLLERS
public static final int FRONT_LEFT = 1;
public static final int FRONT_RIGHT = 3;
public static final int REAR_RIGHT = 4;
// ENCODERS
- public static final int ENCODER_LEFT_A = 0;
- public static final int ENCODER_LEFT_B = 1;
+ public static final int ENCODER_LEFT_A = 1;
+ public static final int ENCODER_LEFT_B = 0;
public static final int ENCODER_RIGHT_A = 2;
public static final int ENCODER_RIGHT_B = 3;
- }
- public static class Climber {
- // MOTOR CONTROLLERS
- public static final int MOTOR_VAL = 1;
+ public static final SPI.Port GYRO_PORT = SPI.Port.kOnboardCS0;
}
public static class Intake {
- public static final int INTAKE_ROLLER_PORT = 0;
+ public static final int INTAKE_ROLLER_PORT = 8;
+ }
+
+ public static class Climber {
+ public static final int WINCH_PORT = 0;
}
public static enum Direction {