package org.usfirst.frc.team3501.robot;
import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
/**
* The Constants stores constant values for all subsystems. This includes the
*/
public class Constants {
- public static class OI {
- // 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 static class DriveTrain {
- // Drivetrain Motor Related Ports
- public static final int FRONT_LEFT = 0;
- public static final int FRONT_RIGHT = 0;
- public static final int REAR_LEFT = 0;
- public static final int REAR_RIGHT = 0;
-
- // Encoder related ports
- public final static int ENCODER_LEFT_A = 3;
- public final static int ENCODER_LEFT_B = 4;
- public final static int ENCODER_RIGHT_A = 2;
- public final static int ENCODER_RIGHT_B = 1;
-
- 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 final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
- }
-
- public static class Scaler {
- // Piston channels
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
-
- // Winch port
- public final static int WINCH_MOTOR = 0;
- }
-
- 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 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 enum State {
- RUNNING, STOPPED;
- }
- }
-
- 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 final static double ZERO_ANGLE = 0;
- }
-
- 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
- }
-
- public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
- }
+ 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 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;
+
+ }
+
+ 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;
+
+ // 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 = 3;
+ public final static int ENCODER_RIGHT_B = 4;
+
+ public static final int LEFT_MODULE = PCM_MODULE_B;
+ public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 6;
+ public static final int RIGHT_MODULE = PCM_MODULE_B;
+ public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 7;
+
+ 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 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 class Shooter {
+ public static final int CATAPULT1_MODULE = PCM_MODULE_A;
+ public static final int CATAPULT1_FORWARD = 0;
+ public static final int CATAPULT1_REVERSE = 1;
+ public static final int CATAPULT2_MODULE = PCM_MODULE_A;
+ public static final int CATAPULT2_FORWARD = 2;
+ public static final int CATAPULT2_REVERSE = 3;
+ // TODO Determine actual shooter ports
+
+ 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 INTAKE_ROLLER_PORT = 3;
+
+ // for pistons
+ public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
+ public static final int LEFT_INTAKE_FORWARD = 4;
+ public static final int LEFT_INTAKE_REVERSE = 5;
+ public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_A;
+ public static final int RIGHT_INTAKE_FORWARD = 6;
+ public static final int RIGHT_INTAKE_REVERSE = 7;
+ // TODO Determine actual intake ports
+
+ public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+ public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
+
+ // for roller
+ public static final double INTAKE_SPEED = 0.5;
+ public static final double OUTPUT_SPEED = -0.5;
+ }
}
projects / 3501 / stronghold-2016 / blobdiff