public final static int ENCODER_LEFT_B = 4;
public final static int ENCODER_RIGHT_A = 2;
public final static int ENCODER_RIGHT_B = 1;
+
+ private final static double WHEEL_DIAMETER = 6.0; // in inches
+ private final static double PULSES_PER_ROTATION = 256; // in pulses
+ private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+ private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+ public final static double INCHES_PER_PULSE = (((Math.PI)
+ * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+ / WHEEL_SPROCKET_DIAMETER)
+ * WHEEL_DIAMETER;
}
public static class Scaler {
}
public static class IntakeArm {
- public static final int PORT = 0;
- public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
-
+ 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 class DefenseArm {
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[] 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
}
public enum Defense {