add code that puts ball onto catapult

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index a6c7f06f379b6fbfbf68d3db367973b0539950db..2fcbabe5122a07f02b0fb63b1f914d7f5ea79fa9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -45,10 +45,10 @@ public class Constants {
     public static final double kADJUST = 8;
 
     // Drivetrain Motor related ports
-    public static final int DRIVE_FRONT_LEFT = 6;
-    public static final int DRIVE_REAR_LEFT = 5;
-    public static final int DRIVE_FRONT_RIGHT = 1;
-    public static final int DRIVE_REAR_RIGHT = 2;
+    public static final int DRIVE_FRONT_LEFT = 1;
+    public static final int DRIVE_REAR_LEFT = 2;
+    public static final int DRIVE_FRONT_RIGHT = 6;
+    public static final int DRIVE_REAR_RIGHT = 5;
 
     // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
@@ -64,7 +64,8 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 3;
     public final static int ENCODER_RIGHT_B = 4;
 
-    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
+    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
+        / 256;
 
     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
     public static double encoderTolerance = 8.0;
@@ -85,6 +86,10 @@ public class Constants {
     public static final Value SHOOT = Value.kForward;
     public static final Value RESET = Value.kReverse;
     public static final double WAIT_TIME = 2.0; // In seconds
+
+    // TODO: test for this time
+    public static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;
+
   }
 
   public static class IntakeArm {
@@ -112,20 +117,20 @@ public class Constants {
 
   public static class Auton {
     // Defense crossing speeds from -1 to 1
-    public static final double DEFAULT_SPEED = 0.6;
+    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 = 0.6;
-    public static final double RAMPART_SPEED = 0.6;
-    public static final double LOW_BAR_SPEED = 0.6;
+    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 = 5.0;
-    public static final double MOAT_TIME = 5.0;
-    public static final double ROCK_WALL_TIME = 5.0;
-    public static final double ROUGH_TERRAIN_TIME = 5.0;
-    public static final double RAMPART_TIME = 5.0;
-    public static final double LOW_BAR_TIME = 5.0;
+    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;