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 f8c56b762d95a3ce4092a945c3e8051c18da05cd..3c27d4884bb6ad77b8342cc5605196b1e674559f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -18,20 +18,42 @@ public class Constants {
     public final static int LEFT_STICK_PORT = 0;
     public final static int RIGHT_STICK_PORT = 1;
 
-    public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
-
-    public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
-    public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
-    public final static int RIGHT_JOYSTICK_SHOOT_PORT = 3;
+    // 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 = 6;
-    public static final int REAR_LEFT = 2;
-    public static final int REAR_RIGHT = 5;
+    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;
@@ -39,11 +61,6 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 3;
     public final static int ENCODER_RIGHT_B = 4;
 
-    public static final int LEFT_MODULE = PCM_MODULE_B;
-    public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5;
-    public static final int RIGHT_MODULE = PCM_MODULE_B;
-    public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
-
     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;
@@ -52,38 +69,15 @@ public class Constants {
     // Gearing constants
     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
-
-    public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
-  }
-
-  public static class Scaler {
-    // Piston channels
-    public final static int FORWARD_CHANNEL = 6;
-    public final static int REVERSE_CHANNEL = 0;
-
-    // Winch port
-    public final static int WINCH_MOTOR = 0;
-
-    // Winch speeds
-    public final static double WINCH_STOP_SPEED = 0.0;
-    public final static double SCALE_SPEED = 0;
-    public final static double SECONDS_TO_CLAMP = 2.0;
-
-    // Winch timeout
-    public final static int SECONDS_TO_SCALE = 0;
-
-    public static boolean SCALING = false;
-
   }
 
   public static class Shooter {
     public static final int CATAPULT1_MODULE = PCM_MODULE_B;
-    public static final int CATAPULT1_FORWARD = 0;
-    public static final int CATAPULT1_REVERSE = 6;
-    public static final int CATAPULT2_MODULE = PCM_MODULE_B;
-    public static final int CATAPULT2_FORWARD = 1;
-    public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual
-                                                  // shooter ports
+    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;
@@ -91,18 +85,23 @@ public class Constants {
   }
 
   public static class IntakeArm {
-    public static final int ROLLER_PORT = 3;
+    public static final int INTAKE_ROLLER_PORT = 8;
 
     // for pistons
-    public static final int LEFT_FORWARD = 0;
-    public static final int LEFT_REVERSE = 1;
-
-    public static final int RIGHT_FORWARD = 2;
-    public static final int RIGHT_REVERSE = 3;
+    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;