X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=232681683e28fb1fa029574f40514dd0aedaa85b;hb=cef820abab686c8bb7f7cc85428183f1cf110edd;hp=d17d1da90c6136948905e7d8fa41b7216a555c11;hpb=200caf634c87b7aec67dac297be8073a5acf54c8;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index d17d1da9..23268168 100644
--- 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
@@ -23,34 +24,49 @@ public class Constants {
 
   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 final static double INCHES_PER_PULSE = (((Math.PI)
-        * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
-        / WHEEL_SPROCKET_DIAMETER)
-        * WHEEL_DIAMETER;
+    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 {
     // 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 static class Shooter {