create dead-reckoning class in Constants.java

[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 8f121992ae3b606a0566545abd8730ba9a9b28b3..e0949205041d2167c8868cafa8032603d1ac6837 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 
 /**
  * The Constants stores constant values for all subsystems. This includes the
@@ -34,6 +35,9 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 9;
     public final static int ENCODER_RIGHT_B = 8;
 
+    public final static int FORWARD_CHANNEL = 0;
+    public final static int REVERSE_CHANNEL = 0;
+
     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
@@ -42,17 +46,27 @@ public class Constants {
         ((3.66 / 5.14) * 6 * Math.PI) / 256;
 
     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;
+
+    // Gearing constants
+    public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
+    public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
+
   }
 
   public static class Scaler {
     // Piston channels
     public final static int FORWARD_CHANNEL = 0;
-    public final static int REVERSE_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 SECONDS_TO_CLAMP = 2.0;
   }
 
   public static class Shooter {
@@ -73,6 +87,10 @@ public class Constants {
     }
   }
 
+  public static class DeadReckoning {
+    public static final double DEFAULT_SPEED = 0.5;
+  }
+
   public static class IntakeArm {
     public static final int ROLLER_PORT = 0;
     public static final int ARM_PORT = 1;