Fix ports for actual robot

[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 08dda700f3b64710aa3d141a3735884be595d27c..53def1166b8670318d54c8cc4e953a341ce07bb3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -43,9 +43,9 @@ public class Constants {
   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 FRONT_RIGHT = 6;
     public static final int REAR_LEFT = 2;
-    public static final int REAR_RIGHT = 3;
+    public static final int REAR_RIGHT = 5;
 
     // Encoder related ports
     public final static int ENCODER_LEFT_A = 0;
@@ -54,18 +54,17 @@ public class Constants {
     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 REVERSE_CHANNEL = 1;
 
-    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 gp = 0.018, gi = 0.000015, gd = 0;
     public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
 
     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 final int LEFT_FORWARD = 1, LEFT_REVERSE = 2,
+        RIGHT_FORWARD = 9, RIGHT_REVERSE = 10;
     public static double time = 0;
 
     // Gearing constants
@@ -79,8 +78,8 @@ public class Constants {
 
   public static class Scaler {
     // Piston channels
-    public final static int FORWARD_CHANNEL = 0;
-    public final static int REVERSE_CHANNEL = 1;
+    public final static int FORWARD_CHANNEL = 6;
+    public final static int REVERSE_CHANNEL = 0;
 
     // Winch port
     public final static int WINCH_MOTOR = 0;
@@ -99,7 +98,7 @@ public class Constants {
 
   public static class Shooter {
     public static final int PORT = 0;
-    public static final int PUNCH_FORWARD = 0;
+    public static final int PUNCH_FORWARD = 5;
     public static final int PUNCH_REVERSE = 1;
     public static final int ANGLE_ADJUSTER_PORT = 0;
 
@@ -109,8 +108,10 @@ public class Constants {
     // 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 int RIGHT_HOOD_FORWARD = 2;
+    public static final int RIGHT_HOOD_REVERSE = 4;
+    public static final int LEFT_HOOD_FORWARD = 4;
+    public static final int LEFT_HOOD_REVERSE = 2;
 
     public static final double DEFAULT_SHOOTER_SPEED = 0.5;
 
@@ -133,6 +134,7 @@ public class Constants {
     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 double DEFAULT_INTAKE_ARM_SPEED = 0.3;
   }
 
   public static class DefenseArm {