// Computer Ports
public final static int LEFT_STICK_PORT = 0;
public final static int RIGHT_STICK_PORT = 1;
- // Ports on the Joystick
- public final static int TRIGGER_PORT = 1;
- public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
- public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
- public final static int SHOOT_PORT = 4;
- public final static int LOG_PORT = 5;
+
+ 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;
+
}
public static class DriveTrain {
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,
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 = 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_PORT = 0;
- public static final int PUNCH_REVERSE_PORT = 1;
+ 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;
// 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 class IntakeArm {
public static final int ROLLER_PORT = 0;
public static final int ARM_PORT = 1;
// height
}
+ public enum Direction {
+ UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
+ }
+
public enum Defense {
PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
}