Switch left and right side of robot, remove capability to switch front temporarily

[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 38899ea422b1e068d0bc0171e16540fdbcf0a73e..a6543a8fa70ab872c15afad6eaf48cf3a3302d76 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -52,8 +52,8 @@ public class Constants {
 
     // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
-    public static final int LEFT_SHIFT_FORWARD = 3;
-    public static final int LEFT_SHIFT_REVERSE = 6;
+    public static final int LEFT_SHIFT_FORWARD = 6;
+    public static final int LEFT_SHIFT_REVERSE = 3;
     public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
     public static final int RIGHT_SHIFT_FORWARD = 2;
     public static final int RIGHT_SHIFT_REVERSE = 7;
@@ -82,8 +82,8 @@ public class Constants {
     public static final int CATAPULT2_FORWARD = 0;
     public static final int CATAPULT2_REVERSE = 1;
 
-    public static final Value shoot = Value.kForward;
-    public static final Value reset = Value.kReverse;
+    public static final Value SHOOT = Value.kForward;
+    public static final Value RESET = Value.kReverse;
     public static final double WAIT_TIME = 2.0; // In seconds
   }
 
@@ -110,6 +110,27 @@ public class Constants {
     public static final double OUTPUT_SPEED = -0.7;
   }
 
+  public static class Auton {
+    // Defense crossing speeds from -1 to 1
+    public static final double DEFAULT_SPEED = 0.3;
+    public static final double MOAT_SPEED = 0.6;
+    public static final double ROCK_WALL_SPEED = 0.8;
+    public static final double ROUGH_TERRAIN_SPEED = 0.7;
+    public static final double RAMPART_SPEED = 0.4;
+    public static final double LOW_BAR_SPEED = 0.5;
+
+    // Defense crossing times in seconds
+    public static final double DEFAULT_TIME = 10.0;
+    public static final double MOAT_TIME = 7.0;
+    public static final double ROCK_WALL_TIME = 8.0;
+    public static final double ROUGH_TERRAIN_TIME = 6.0;
+    public static final double RAMPART_TIME = 10.0;
+    public static final double LOW_BAR_TIME = 6.0;
+
+    // Time to wait before shooting in seconds
+    public static final double WAIT_TIME = 1.0;
+  }
+
   public enum Defense {
     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
   }