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
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,
RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
public static double time = 0;
+
+ // Gearing constants
+ public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
+ public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
+
}
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 SECONDS_TO_CLAMP = 2.0;
}
public static class Shooter {
}
}
+ 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;
}