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=d83bedc7016fe199e8b2fdf9a9ff6a351e238d3f;hpb=3f5489cc5ac3b7c7957602f45c50c14f6ad3df1a;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 d83bedc7..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 @@ -23,25 +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 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 { @@ -63,23 +88,33 @@ public class Constants { } public static class IntakeArm { - public static final int PORT = 0; - public static final int CHEVAL_DE_FRISE_HAND_PORT = 1; - + 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 static enum Direction { - LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD; + 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 CHANNEL = 0; + 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; } }