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
* port values for motors and sensors, as well as important operational
public static class DriveTrain {
// Drivetrain Motor Related Ports
- public static final int FRONT_LEFT = 0;
- public static final int FRONT_RIGHT = 0;
- public static final int REAR_LEFT = 0;
- public static final int REAR_RIGHT = 0;
+ public static final int FRONT_LEFT = 1;
+ public static final int FRONT_RIGHT = 4;
+ public static final int REAR_LEFT = 2;
+ public static final int REAR_RIGHT = 3;
// Encoder related ports
- public final static int ENCODER_LEFT_A = 3;
- public final static int ENCODER_LEFT_B = 4;
- public final static int ENCODER_RIGHT_A = 2;
- public final static int ENCODER_RIGHT_B = 1;
+ 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 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
+ private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+ public static final double INCHES_PER_PULSE =
+ ((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 {
// Winch port
public final static int WINCH_MOTOR = 0;
+
}
public static class Shooter {
public static final int PORT = 0;
+ public static final int PUNCH_FORWARD_PORT = 0;
+ public static final int PUNCH_REVERSE_PORT = 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 enum State {
RUNNING, STOPPED;
}
}
- public static enum Direction {
- LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+ 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 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
}
public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART
+ PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
}
}