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 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 = 0;
+ public final static int RIGHT_STICK_PORT = 1;
+
+ public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
+
+ public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
+ public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
+ public final static int RIGHT_JOYSTICK_SHOOT_PORT = 3;
+
}
public static class DriveTrain {
- // Drivetrain specific 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 Specific 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;
+ // Drivetrain Motor Related Ports
+ public static final int FRONT_LEFT = 1;
+ public static final int FRONT_RIGHT = 6;
+ public static final int REAR_LEFT = 2;
+ 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 = 3;
+ public final static int ENCODER_RIGHT_B = 4;
+
+ public static final int LEFT_MODULE = PCM_MODULE_B;
+ public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5;
+ public static final int RIGHT_MODULE = PCM_MODULE_B;
+ public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
+
+ 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 final double PASS_DEFENSE_TIMEOUT = 10; // find this
}
- public static enum Direction {
- LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+ public static class Scaler {
+ // Piston channels
+ public final static int FORWARD_CHANNEL = 6;
+ public final static int REVERSE_CHANNEL = 0;
+
+ // 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 CATAPULT1_MODULE = PCM_MODULE_B;
+ public static final int CATAPULT1_FORWARD = 0;
+ public static final int CATAPULT1_REVERSE = 6;
+ public static final int CATAPULT2_MODULE = PCM_MODULE_B;
+ 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 = 3;
+
+ // for pistons
+ public static final int LEFT_FORWARD = 0;
+ public static final int LEFT_REVERSE = 1;
+
+ public static final int RIGHT_FORWARD = 2;
+ public static final int RIGHT_REVERSE = 3;
+
+ public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+ public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
+
+ // for roller
+ public static final double INTAKE_SPEED = 0.5;
+ public static final double OUTPUT_SPEED = -0.5;
}
}