Swap left and right, add option to do nothing in auton

[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 923914bcb25588b825357ddcae6b9992bbd8075a..7729a2ff29c02e50325e483bd50c3da278daf345 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 = 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;
+    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;
 
     // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
@@ -82,8 +82,8 @@ public class Constants {
     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 Value SHOOT = Value.kForward;
+    public static final Value RESET = Value.kReverse;
     public static final double WAIT_TIME = 2.0; // In seconds
   }
 
@@ -109,4 +109,29 @@ public class Constants {
     public static final double INTAKE_SPEED = 0.7;
     public static final double OUTPUT_SPEED = -0.7;
   }
+
+  public static class Auton {
+    // Defense crossing speeds from -1 to 1
+    public static final double DEFAULT_SPEED = 0.6;
+    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;
+
+    // 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;
+
+    // Time to wait before shooting in seconds
+    public static final double WAIT_TIME = 1.0;
+  }
+
+  public enum Defense {
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
+  }
 }