*/
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 = 1;
- public final static int PASS_PORTCULLIS_PORT = 0;
- public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
- public final static int PASS_DRAWBRIDGE_PORT = 0;
- public final static int PASS_SALLYPORT_PORT = 0;
-
- public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
- public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
- public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
- public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;
-
- public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
- public final static int SPIN1_PORT = 4;
- public final static int SPIN2_PORT = 5;
- public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
- public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
-
- public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
- public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
-
- public final static int TOGGLE_SCALING_PORT = 0;
+ // 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 static class DriveTrain {
- // Drivetrain Motor Related Ports
- public static final int FRONT_LEFT = 1;
- public static final int FRONT_RIGHT = 4;
- public static final int REAR_LEFT = 2;
- public static final int REAR_RIGHT = 3;
+ 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 = 0;
public final static int ENCODER_LEFT_B = 1;
- public final static int ENCODER_RIGHT_A = 9;
- public final static int ENCODER_RIGHT_B = 8;
-
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
+ public final static int ENCODER_RIGHT_A = 3;
+ public final static int ENCODER_RIGHT_B = 4;
- 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 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 final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
- public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1,
- RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
- public static double time = 0;
+ 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 boolean inverted = false;
-
- }
-
- public static class Scaler {
- // Piston channels
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 1;
-
- // Winch port
- public final static int WINCH_MOTOR = 0;
-
- // Winch speeds
- public final static double WINCH_STOP_SPEED = 0.0;
- public final static double WINCH_IN_SPEED = 0;
- public final static double SECONDS_TO_CLAMP = 2.0;
-
- public static boolean SCALING = false;
-
}
public static class Shooter {
- 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.kForward;
- public static final Value closed = Value.kReverse;
-
- public static enum State {
- RUNNING, STOPPED;
- }
- }
-
- public static class DeadReckoning {
- public static final double DEFAULT_SPEED = 0.5;
+ 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 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 static final double ZERO_ANGLE = 0;
- }
+ public static final int INTAKE_ROLLER_PORT = 8;
- 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
- }
+ // 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 enum Direction {
- UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
- }
+ public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+ public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
- public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
+ 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;
}
}
projects / 3501 / stronghold-2016 / blobdiff