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
*/
public class Constants {
- public static class OI {
- // Computer Ports
- public final static int LEFT_STICK_PORT = 0;
- public final static int RIGHT_STICK_PORT = 1;
- // Ports on the Joystick
- public final static int TRIGGER_PORT = 1;
- public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
- public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
- public final static int SHOOT_PORT = 4;
- public final static int LOG_PORT = 5;
- }
-
- 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;
-
- // 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;
-
- 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 {
- // Piston channels
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
-
- // 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 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 final static double ZERO_ANGLE = 180; // in degrees
- public final static double ARM_LENGTH = 15; // in inches
- public final static double BALL_INTAKE_HEIGHT = 5; // random value
- }
-
- 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;
- }
+ 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;
+
+ // Left Joystick
+ public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
+ public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
+ public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
+ public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
+ public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
+ public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;
+
+ // Right Joystick
+ public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
+ public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
+ public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
+ public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
+ public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
+ public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;
+
+ }
+
+ public static class DriveTrain {
+ public static final int TANK = 0;
+ public static final int ARCADE = 1;
+ public static final int DRIVE_TYPE = TANK;
+
+ // Limits changes in speed during joystick driving
+ public static final double kADJUST = 8;
+
+ // Drivetrain Motor related ports
+ 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 = 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;
+
+ // 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 = 3;
+ public final static int ENCODER_RIGHT_B = 4;
+
+ 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 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 class Shooter {
+ public static final int CATAPULT1_MODULE = PCM_MODULE_B;
+ public static final int CATAPULT1_FORWARD = 4;
+ public static final int CATAPULT1_REVERSE = 1;
+ public static final int CATAPULT2_MODULE = PCM_MODULE_A;
+ public static final int CATAPULT2_FORWARD = 0;
+ public static final int CATAPULT2_REVERSE = 1;
+
+ 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 INTAKE_ROLLER_PORT = 8;
+
+ // for pistons
+ public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
+ public static final int LEFT_INTAKE_FORWARD = 5;
+ public static final int LEFT_INTAKE_REVERSE = 2;
+ public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
+ public static final int RIGHT_INTAKE_FORWARD = 5;
+ public static final int RIGHT_INTAKE_REVERSE = 0;
+
+ public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+ public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
+
+ public static final int IN = 1;
+ public static final int STOP = 0;
+ public static final int OUT = -1;
+
+ // for roller
+ public static final double INTAKE_SPEED = 0.7;
+ 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 = 0.3;
+ public static final double MOAT_SPEED = 0.6;
+ public static final double ROCK_WALL_SPEED = 0.8;
+ public static final double ROUGH_TERRAIN_SPEED = 0.7;
+ public static final double RAMPART_SPEED = 0.4;
+ public static final double LOW_BAR_SPEED = 0.5;
+
+ // Defense crossing times in seconds
+ public static final double DEFAULT_TIME = 10.0;
+ public static final double MOAT_TIME = 7.0;
+ public static final double ROCK_WALL_TIME = 8.0;
+ public static final double ROUGH_TERRAIN_TIME = 6.0;
+ public static final double RAMPART_TIME = 10.0;
+ public static final double LOW_BAR_TIME = 6.0;
+
+ // 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;
+ }
}
projects / 3501 / stronghold-2016 / blobdiff