add defense arm motor port

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index e20ecc9c5ce6d91889e5958b99b0e76d1d6748f4..89b4976fd4c5d8f231989d273eb61f218ca02f3a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -49,9 +49,14 @@ public class Constants {
     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;
     }
@@ -65,11 +70,17 @@ public class Constants {
     public static final double OUTPUT_SPEED = -0.5;
   }
 
-  public static enum Direction {
-    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+  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
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
   }
 }