import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
/**
* The Constants stores constant values for all subsystems. This includes the
public final static int FORWARD_CHANNEL = 0;
public final static int REVERSE_CHANNEL = 0;
- 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 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 boolean inverted = false;
+ public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
}
public static class Scaler {
// Winch speeds
public final static double WINCH_STOP_SPEED = 0.0;
- public final static double WINCH_IN_SPEED = 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 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 final double DEFAULT_SHOOTER_SPEED = 0.5;
+
+ public static final Value open = Value.kReverse;
+ public static final Value closed = Value.kForward;
+
+ public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
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;
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 {
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
// height
}
+ public static class Auton {
+ /*
+ * Distance dead reckoning constants
+ */
+ public static final double POS1_DIST1 = 109;
+ public static final double POS1_TURN1 = 60;
+ public static final double POS1_DIST2 = 0;
+
+ // constants for position 2
+ public static final double POS2_DIST1 = 140;
+ public static final double POS2_TURN1 = 60;
+ public static final double POS2_DIST2 = 0;
+
+ // constants for position 3
+ public static final double POS3_DIST1 = 0;
+ public static final double POS3_TURN1 = 90;
+ public static final double POS3_DIST2 = 35.5;
+ public static final double POS3_TURN2 = -90;
+ public static final double POS3_DIST3 = 0;
+
+ // constants for position 4
+ public static final double POS4_DIST1 = 0;
+ public static final double POS4_TURN1 = -90;
+ public static final double POS4_DIST2 = 18.5;
+ public static final double POS4_TURN2 = 90;
+ public static final double POS4_DIST3 = 0;
+
+ // constants for position 5
+ public static final double POS5_DIST1 = 0;
+ public static final double POS5_TURN1 = -90;
+ public static final double POS5_DIST2 = 72.5;
+ public static final double POS5_TURN2 = 90;
+ public static final double POS5_DIST3 = 0;
+ public static final double DRIVE_MAX_TIMEOUT = 3.0;
+ public static final double TURN_MAX_TIMEOUT = 5.0;
+
+ /*
+ * Time dead Reckoning constants
+ */
+ public static final double POS1_DIST1_TIME = 109;
+ public static final double POS1_DRIVE_MAXSPEED = 0.5;
+ public static final double POS1_TURN1_TIME = 60;
+ public static final double POS1_TURN_MAXSPEED = 0.5;
+ public static final double POS1_DIST2_TIME = 0;
+
+ // constants for position 2
+
+ public static final double POS2_DIST1_TIME = 109;
+ public static final double POS2_DRIVE_MAXSPEED = 0.5;
+ public static final double POS2_TURN1_TIME = 60;
+ public static final double POS2_TURN_MAXSPEED = 0.5;
+ public static final double POS2_DIST2_TIME = 0;
+
+ // constants for position 3
+
+ public static final double POS3_DIST1_TIME = 109;
+ public static final double POS3_DRIVE_MAXSPEED = 0.5;
+ public static final double POS3_TURN1_TIME = 60;
+ public static final double POS3_TURN_MAXSPEED = 0.5;
+ public static final double POS3_DIST2_TIME = 0;
+ // constants for position 4
+
+ public static final double POS4_DIST1_TIME = 109;
+ public static final double POS4_DRIVE_MAXSPEED = 0.5;
+ public static final double POS4_TURN1_TIME = 60;
+ public static final double POS4_TURN_MAXSPEED = 0.5;
+ public static final double POS4_DIST2_TIME = 0;
+ // constants for position 5
+
+ public static final double POS5_DIST1_TIME = 109;
+ public static final double POS5_DRIVE_MAXSPEED = 0.5;
+ public static final double POS5_TURN1_TIME = 60;
+ public static final double POS5_TURN_MAXSPEED = 0.5;
+ public static final double POS5_DIST2_TIME = 0;
+
+ // Passing Defenses Constants
+
+ public static final double DEFAULT_SPEED = 0.5;
+ public static final boolean IS_USING_TIME = true;
+
+ // dead reckoning time and speed constants for driving through defenses
+ // TODO: find the times it takes to pass each defense
+ public static final double PASS_ROCK_WALL_TIME = 0;
+ public static final double PASS_ROCK_WALL_SPEED = 0;
+ public static final double PASS_ROCK_WALL_DIST = 0;
+ public static final double PASS_LOW_BAR_TIME = 0;
+ public static final double PASS_LOW_BAR_SPEED = 0;
+ public static final double PASS_LOW_BAR_DIST = 0;
+ public static final double PASS_MOAT_TIME = 0;
+ public static final double PASS_MOAT_SPEED = 0;
+ public static final double PASS_MOAT_DIST = 0;
+ public static final double PASS_RAMPART_TIME = 0;
+ public static final double PASS_RAMPART_SPEED = 0;
+ public static final double PASS_RAMPART_DIST = 0;
+ public static final double PASS_ROUGH_TERRAIN_TIME = 0;
+ public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
+ public static final double PASS_ROUGH_TERRAIN_DIST = 0;
+ }
+
public enum Direction {
UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
}