import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.I2C;
-import edu.wpi.first.wpilibj.I2C.Port;
/**
* The Constants stores constant values for all subsystems. This includes the
*/
public class Constants {
+ public final static int PCM_MODULE_A = 9;
+ public final static int PCM_MODULE_B = 10;
+
public static class OI {
// Computer Ports
public final static int LEFT_STICK_PORT = 0;
public final static int RIGHT_STICK_PORT = 1;
- public final static int PASS_PORTCULLIS_PORT = 0;
- public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
- public final static int PASS_DRAWBRIDGE_PORT = 0;
- public final static int PASS_SALLYPORT_PORT = 0;
-
- public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
- public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
- public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
- public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;
+ public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
- public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
- public final static int SPIN1_PORT = 4;
- public final static int SPIN2_PORT = 5;
- public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
- public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
-
- public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
+ public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
-
- public final static int TOGGLE_SCALING_PORT = 0;
+ public final static int RIGHT_JOYSTICK_SHOOT_PORT = 3;
}
public static class DriveTrain {
// Drivetrain Motor Related Ports
public static final int FRONT_LEFT = 1;
- public static final int FRONT_RIGHT = 4;
+ public static final int FRONT_RIGHT = 6;
public static final int REAR_LEFT = 2;
- public static final int REAR_RIGHT = 3;
+ public static final int REAR_RIGHT = 5;
// Encoder related ports
public final static int ENCODER_LEFT_A = 0;
public final static int ENCODER_LEFT_B = 1;
- public final static int ENCODER_RIGHT_A = 9;
- public final static int ENCODER_RIGHT_B = 8;
+ public final static int ENCODER_RIGHT_A = 3;
+ public final static int ENCODER_RIGHT_B = 4;
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
+ public static final int LEFT_MODULE = PCM_MODULE_B;
+ public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 6;
+ public static final int RIGHT_MODULE = PCM_MODULE_B;
+ public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 7;
- 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 double kp = 0.013, ki = 0.000015, kd = -0.002;
- public static double gp = 0.018, gi = 0.000015, gd = 0;
- public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
-
- 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;
+ public static double encoderTolerance = 8.0;
// Gearing constants
public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
-
- public static boolean inverted = false;
-
- public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
- }
-
- public static class Scaler {
- // Piston channels
- public final static int FORWARD_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 SCALE_SPEED = 0;
- public final static double SECONDS_TO_CLAMP = 2.0;
-
- // Winch timeout
- public final static int SECONDS_TO_SCALE = 0;
-
- public static boolean SCALING = false;
-
}
public static class Shooter {
- public static final int PORT = 0;
- public static final int PUNCH_FORWARD = 0;
- public static final int PUNCH_REVERSE = 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 final int HOOD_FORWARD = 2;
- public static final int HOOD_REVERSE = 3;
-
- public static final double DEFAULT_SHOOTER_SPEED = 0.5;
-
- public static final Value open = Value.kReverse;
- public static final Value closed = Value.kForward;
-
- public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
-
- public static enum State {
- RUNNING, STOPPED;
- }
- }
-
- public static class DeadReckoning {
- public static final double DEFAULT_SPEED = 0.5;
- public static boolean isUsingTimeToPassDefense = true;
-
- // dead reckoning time and speed constants for driving through defenses
- public static double passRockWallTime = 0;
- public static double passRockWallSpeed = 0;
- public static double passRockWallDistance = 0;
- public static double passLowBarTime = 0;
- public static double passLowBarSpeed = 0;
- public static double passLowBarDistance = 0;
- public static double passMoatTime = 0;
- public static double passMoatSpeed = 0;
- public static double passMoatDistance = 0;
- public static double passRampartTime = 0;
- public static double passRampartSpeed = 0;
- public static double passRampartDistance = 0;
- public static double passRoughTerrainTime = 0;
- public static double passRoughTerrainSpeed = 0;
- public static double passRoughTerrainDistance = 0;
-
+ public static final int CATAPULT1_MODULE = PCM_MODULE_A;
+ public static final int CATAPULT1_FORWARD = 0;
+ public static final int CATAPULT1_REVERSE = 6;
+ public static final int CATAPULT2_MODULE = PCM_MODULE_A;
+ public static final int CATAPULT2_FORWARD = 1;
+ public static final int CATAPULT2_REVERSE = 7;
+ // TODO Determine actual shooter ports
+
+ public static final Value shoot = Value.kForward;
+ public static final Value reset = Value.kReverse;
+ public static final double WAIT_TIME = 2.0; // In seconds
}
public static class IntakeArm {
- public static final int ROLLER_PORT = 0;
- public static final int ARM_PORT = 1;
- public static final int POT_CHANNEL = 0;
- public static final double INTAKE_SPEED = 0.5;
- public static final double OUTPUT_SPEED = -0.5;
- public final static double FULL_RANGE = 270.0; // in degrees
- public final static double OFFSET = -135.0; // in degrees
- public static final double ZERO_ANGLE = 0;
- }
+ public static final int INTAKE_ROLLER_PORT = 3;
- 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 static final int HAND_CHANNEL = 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 final static double ARM_LENGTH = 0; // TODO: find actual length
- public final static double HAND_LENGTH = 0; // TODO: find actual length
- public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
- // height
- }
+ // for pistons
+ public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
+ public static final int LEFT_INTAKE_FORWARD = 0;
+ public static final int LEFT_INTAKE_REVERSE = 1;
+ public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_A;
+ public static final int RIGHT_INTAKE_FORWARD = 2;
+ public static final int RIGHT_INTAKE_REVERSE = 3;
+ // TODO Determine actual intake ports
- public enum Direction {
- UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
- }
+ public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+ public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
- public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
+ // for roller
+ public static final double INTAKE_SPEED = 0.5;
+ public static final double OUTPUT_SPEED = -0.5;
}
}
projects / 3501 / stronghold-2016 / blobdiff