bugfixes

[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 73e5b85c4838ac66fdab3fe126f860a07c985f9b..3c27d4884bb6ad77b8342cc5605196b1e674559f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -1,5 +1,8 @@
 package org.usfirst.frc.team3501.robot;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
 /**
  * The Constants stores constant values for all subsystems. This includes the
  * port values for motors and sensors, as well as important operational
@@ -7,35 +10,100 @@ package org.usfirst.frc.team3501.robot;
  */
 
 public class Constants {
+  public final static int PCM_MODULE_A = 9;
+  public final static int PCM_MODULE_B = 10;
+
   public static class OI {
+    // Computer Ports
     public final static int LEFT_STICK_PORT = 0;
-    public final static int RIGHT_STICK_PORT = 0;
-    public final static int TRIGGER_PORT = 0;
+    public final static int RIGHT_STICK_PORT = 1;
+
+    // Left Joystick
+    public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
+    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
+    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
+    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
+    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
+    public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;
+
+    // Right Joystick
+    public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
+    public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
+    public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
+    public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
+    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
+    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;
 
-    public final static int DECREMENT_SHOOTER_PORT = 0;
-    public final static int INCREMENT_SHOOTER_PORT = 0;
-    public final static int SHOOTER_PORT = 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;
+    public static final int TANK = 0;
+    public static final int ARCADE = 1;
+    public static final int DRIVE_TYPE = TANK;
+
+    // Drivetrain Motor related ports
+    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;
+    public static final int LEFT_SHIFT_FORWARD = 3;
+    public static final int LEFT_SHIFT_REVERSE = 6;
+    public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
+    public static final int RIGHT_SHIFT_FORWARD = 2;
+    public static final int RIGHT_SHIFT_REVERSE = 7;
 
     // 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 final static int ENCODER_LEFT_A = 0;
+    public final static int ENCODER_LEFT_B = 1;
+    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 double kp = 0.013, ki = 0.000015, kd = -0.002;
+    public static double encoderTolerance = 8.0;
+
+    // Gearing constants
+    public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
+    public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
   }
 
   public static class Shooter {
-    public static final int PORT = 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
   }
 
-  public static enum Direction {
-    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+  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 = 0.5;
+    public static final double OUTPUT_SPEED = -0.5;
   }
 }