Add constant arm length and command getArmHeight
[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java
index e20ecc9c5ce6d91889e5958b99b0e76d1d6748f4..216d816d57c721dfb2550ee433b72f088e0d2a6f 100644 (file)
@@ -9,67 +9,95 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
  */
 
 public class Constants {
-  public static class OI {
-    // Computer Ports
-    public final static int LEFT_STICK_PORT = 0;
-    public final static int RIGHT_STICK_PORT = 1;
-    // Ports on the Joystick
-    public final static int TRIGGER_PORT = 1;
-    public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
-    public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
-    public final static int SHOOT_PORT = 4;
-    public final static int LOG_PORT = 5;
-  }
+       public static class OI {
+               // Computer Ports
+               public final static int LEFT_STICK_PORT = 0;
+               public final static int RIGHT_STICK_PORT = 1;
+               // Ports on the Joystick
+               public final static int TRIGGER_PORT = 1;
+               public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
+               public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
+               public final static int SHOOT_PORT = 4;
+               public final static int LOG_PORT = 5;
+       }
 
-  public static class DriveTrain {
-    // Drivetrain Motor Related Ports
-    public static final int FRONT_LEFT = 0;
-    public static final int FRONT_RIGHT = 0;
-    public static final int REAR_LEFT = 0;
-    public static final int REAR_RIGHT = 0;
+       public static class DriveTrain {
+               // Drivetrain Motor Related Ports
+               public static final int FRONT_LEFT = 0;
+               public static final int FRONT_RIGHT = 0;
+               public static final int REAR_LEFT = 0;
+               public static final int REAR_RIGHT = 0;
 
-    // Encoder related ports
-    public final static int ENCODER_LEFT_A = 3;
-    public final static int ENCODER_LEFT_B = 4;
-    public final static int ENCODER_RIGHT_A = 2;
-    public final static int ENCODER_RIGHT_B = 1;
-  }
+               // Encoder related ports
+               public final static int ENCODER_LEFT_A = 3;
+               public final static int ENCODER_LEFT_B = 4;
+               public final static int ENCODER_RIGHT_A = 2;
+               public final static int ENCODER_RIGHT_B = 1;
 
-  public static class Scaler {
-    // Piston channels
-    public final static int FORWARD_CHANNEL = 0;
-    public final static int REVERSE_CHANNEL = 0;
+               private final static double WHEEL_DIAMETER = 6.0; // in inches
+               private final static double PULSES_PER_ROTATION = 256; // in pulses
+               private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+               private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+               public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+                               / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+       }
 
-    // Winch port
-    public final static int WINCH_MOTOR = 0;
-  }
+       public static class Scaler {
+               // Piston channels
+               public final static int FORWARD_CHANNEL = 0;
+               public final static int REVERSE_CHANNEL = 0;
 
-  public static class Shooter {
-    public static final int PORT = 0;
-    public static final int PUNCH_FORWARD_PORT = 0;
-    public static final int PUNCH_REVERSE_PORT = 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;
+               // Winch port
+               public final static int WINCH_MOTOR = 0;
+       }
 
-    public static enum State {
-      RUNNING, STOPPED;
-    }
-  }
+       public static class Shooter {
+               public static final int PORT = 0;
+               public static final int PUNCH_FORWARD_PORT = 0;
+               public static final int PUNCH_REVERSE_PORT = 1;
+               public static final int ANGLE_ADJUSTER_PORT = 0;
 
-  public static class IntakeArm {
-    public static final int PORT = 0;
-    public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
+               public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
+               public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
 
-    public static final double INTAKE_SPEED = 0.5;
-    public static final double OUTPUT_SPEED = -0.5;
-  }
+               // Encoder port
+               public static final int ENCODER_PORT_A = 0;
+               public static final int ENCODER_PORT_B = 0;
 
-  public static enum Direction {
-    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
-  }
+               public static enum State {
+                       RUNNING, STOPPED;
+               }
+       }
 
-  public enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART
-  }
+       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 final static double ZERO_ANGLE = 180; // in degrees
+               public final static double ARM_LENGTH = 15; // in inches
+       }
+
+       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;
+       }
 }