X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=2fcbabe5122a07f02b0fb63b1f914d7f5ea79fa9;hb=b16783398a2939b68a3ab4c01e43e400c0f29a7b;hp=923914bcb25588b825357ddcae6b9992bbd8075a;hpb=116863c576fd9df4b1369bfa1c5901e939a3fe74;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 923914bc..2fcbabe5 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -52,8 +52,8 @@ public class Constants {
 
     // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
-    public static final int LEFT_SHIFT_FORWARD = 3;
-    public static final int LEFT_SHIFT_REVERSE = 6;
+    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;
@@ -64,7 +64,8 @@ public class Constants {
     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 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;
@@ -82,9 +83,13 @@ public class Constants {
     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 Value SHOOT = Value.kForward;
+    public static final Value RESET = Value.kReverse;
     public static final double WAIT_TIME = 2.0; // In seconds
+
+    // TODO: test for this time
+    public static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;
+
   }
 
   public static class IntakeArm {
@@ -109,4 +114,29 @@ public class Constants {
     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;
+  }
 }