public static final double kADJUST = 8;
// Drivetrain Motor related ports
- public static final int DRIVE_FRONT_LEFT = 1;
- public static final int DRIVE_REAR_LEFT = 2;
- public static final int DRIVE_FRONT_RIGHT = 6;
- public static final int DRIVE_REAR_RIGHT = 5;
+ public static final int DRIVE_FRONT_LEFT = 6;
+ public static final int DRIVE_REAR_LEFT = 5;
+ public static final int DRIVE_FRONT_RIGHT = 1;
+ public static final int DRIVE_REAR_RIGHT = 2;
// 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;
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 = 0.6;
+ public static final double MOAT_SPEED = 0.6;
+ public static final double ROCK_WALL_SPEED = 0.8;
+ public static final double ROUGH_TERRAIN_SPEED = 0.6;
+ public static final double RAMPART_SPEED = 0.6;
+ public static final double LOW_BAR_SPEED = 0.6;
+
+ // Defense crossing times in seconds
+ public static final double DEFAULT_TIME = 5.0;
+ public static final double MOAT_TIME = 5.0;
+ public static final double ROCK_WALL_TIME = 5.0;
+ public static final double ROUGH_TERRAIN_TIME = 5.0;
+ public static final double RAMPART_TIME = 5.0;
+ public static final double LOW_BAR_TIME = 5.0;
+
+ // 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;
}