X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=37f77e41abe42387f2926cc024eb2c2be93a8eb9;hb=fb75626b5f83301f4c51c6c9a29d5f948e10effd;hp=df64a8157f983c29d9c6d3d46e62047895906256;hpb=edf10851494d8eb47056c2cfe6bbf5910b45f546;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 df64a815..37f77e41 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -56,13 +56,13 @@ public class Constants {
     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 double kp = 0.013, ki = 0.000015, kd = -0.002;
+    public static double gp = 0.018, gi = 0.000015, gd = 0;
+    public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
+
     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;
@@ -74,6 +74,7 @@ public class Constants {
 
     public static boolean inverted = false;
 
+    public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
   }
 
   public static class Scaler {
@@ -86,11 +87,11 @@ public class Constants {
 
     // Winch speeds
     public final static double WINCH_STOP_SPEED = 0.0;
-    public final static double WINCH_IN_SPEED = 0;
+    public final static double SCALE_SPEED = 0;
     public final static double SECONDS_TO_CLAMP = 2.0;
 
     // Winch timeout
-    public final static int WINCH_TIMEOUT = 0;
+    public final static int SECONDS_TO_SCALE = 0;
 
     public static boolean SCALING = false;
 
@@ -111,8 +112,8 @@ public class Constants {
     public static final int HOOD_FORWARD = 2;
     public static final int HOOD_REVERSE = 3;
 
-    public static final Value open = Value.kForward;
-    public static final Value closed = Value.kReverse;
+    public static final Value open = Value.kReverse;
+    public static final Value closed = Value.kForward;
 
     public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
 
@@ -123,6 +124,25 @@ public class Constants {
 
   public static class DeadReckoning {
     public static final double DEFAULT_SPEED = 0.5;
+    public static boolean isUsingTimeToPassDefense = true;
+
+    // dead reckoning time and speed constants for driving through defenses
+    public static double passRockWallTime = 0;
+    public static double passRockWallSpeed = 0;
+    public static double passRockWallDistance = 0;
+    public static double passLowBarTime = 0;
+    public static double passLowBarSpeed = 0;
+    public static double passLowBarDistance = 0;
+    public static double passMoatTime = 0;
+    public static double passMoatSpeed = 0;
+    public static double passMoatDistance = 0;
+    public static double passRampartTime = 0;
+    public static double passRampartSpeed = 0;
+    public static double passRampartDistance = 0;
+    public static double passRoughTerrainTime = 0;
+    public static double passRoughTerrainSpeed = 0;
+    public static double passRoughTerrainDistance = 0;
+
   }
 
   public static class IntakeArm {
@@ -144,6 +164,7 @@ public class Constants {
     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