package org.usfirst.frc.team3501.robot;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+
/**
* The Constants stores constant values for all subsystems. This includes the
* port values for motors and sensors, as well as important operational
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 DEC_SHOOTER_SPD_PORT = 2;
- public final static int INC_SHOOTER_SPD_PORT = 3;
+ 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 PRINT_PORT = 5;
+ public final static int LOG_PORT = 5;
}
public static class DriveTrain {
public final static int ENCODER_RIGHT_B = 1;
}
+ 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 enum Direction {
- LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+ public static class IntakeArm {
+ public static final int PORT = 0;
+ public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
+
+ public static final double INTAKE_SPEED = 0.5;
+ public static final double OUTPUT_SPEED = -0.5;
+ }
+
+ 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 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 enum Defense {
+ PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
}
}